Instead of letting cars drive by themselves, they should first learn to park by themselves. Eventually emitting standardized sound, so that bypassers know that the car is in an autonomous parking mode, so extra care should be taken.

The sampling rate of the sensors should be diminished, maybe halved or even more, in order to make it harder for the car to park.

The car should observe, also with a low sampling rate, how the driver drives the car, make it's own prognostics on how it would drive, and compare them with what the driver chose to do, in order to learn. In that case the driver should be able to indicate the car that a certain action he/she performed, should be forgotten by the car, flagged as an illegal or dangerous maneuver.

When a car can do that well, park and project, then the sample rate should get upped in order to feed the car with more reliable data. If it handles that data without hiccups, and increased reliability, then a next stage can begin.