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It's not difficult, but it has been stated by Tesla that in software version 7.1 it will not slow down for stop signs or stop lights. We know that is how it behaves, expecting it to do something more is unrealistic and potentially dangerous to you, your car and those around you.
Wait and see what 8.0 and 8.1 produce, but don't count on getting stoplights/signs with the current hardware configurations.