Personally, I expect that this evolution will be roughly as significant as what was catalysed by the horseless carriage.
Horseless carriages drive on roads that were minimally modified from what the horses used (in some parts of Pittsburgh, for example, they never swapped out the Belgian block).
Seems like it would basically be a two-step process. First, you need autonomous vehicles which work on roads as we have them now. Once they're common, they can start adding features which can take advantage of more sophisticated infrastructure when it comes. Sort of like how early cars had to work on paths built for horse carriages, but once they were common we could start building things like freeways.
Government has to get involved. Sometime and somewhere. Public safety is one aspect
I suggested to one town councilman that our town introduces a bill (ordinance) banning driver less vehicles. Just like we can ban oversized vehicles and parking in the winter. Our government should ban then now while it is not yet happening.
He thought it would be a good idea not to ban them but to capture a licensing fee.
Hopefully this will get introduced at the next meeting
PS: I don't necessarily agree w/ bans or taxes, just don't like the up/down culture of 'popularity'. The sooner the texters & PMGo players are relegated to child seats, the better for all drivers/passengers/riders, IMO.
I envision future photos-videos of driver and driver less "vehicles" at a busy intersection just like horses and early cars.