If you're waiting for self-driving cars in the sense of ordering one from your phone to pick you up at an arbitrary location, I'm afraid you're going to be waiting a long time. The fact that autopilot systems seem to work pretty well on highways in good weather has IMO made a lot of people way way optimistic about robo-Uber arriving in timescales less than multiple decades.

I'd love to be wrong but there's a huge gap between works pretty well on highways and can negotiate city streets to an arbitrary location without a human present.