But current signs designed for humans work well. They're machine readable (traffic sign detection is available from basically all manufacturers) and can (usually) be understood without prior knowledge and don't need much change over decades. I think there are few examples where messages were designed for computers but are easy to understand independent of the system, manufacturer. ASCII encoded text files are the only thing that come to mind.
The current road infrastructure (markings, signs) has been designed for humans. Once it has been modernized to better aid the self-driving systems, we don't probably need "perfect" AI.