Bicycles would be a good replacement if infrastructure would be there.

Genius

actually it's even simpler: don't let humans drive. Even today's rudimentary driverless systems are already vastly superior to humans in terms of events per mile driven. (i.e. pedestrians killed)

Not by a long shot.

Come to my city and see if Autopilot can handle it at rush hour with road side construction sites and double parked cars.

A law abiding driver that's paying attention to the road has miles more cognitive ability for safe driving than any autonomous system to date.