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Some predictions never arrive, some arrive much slower than predicted, and some faster. I think self-driving cars will happen fairly quickly, because they are the only means to ease traffic in those areas where people insist on living too close together.

Eventually when vehicles are all communicating, things will be very safe. Until then, while there's a mix, SDVs have to be very well designed and tested. Incidents will fall into 2 categories - failure (as in sensors) and conditions outside of design. The failure part can be minimized the same way safety sensors on dangerous equipment are monitored for proper operation.

In short order, SDVs will be the safer alternative to drivers.