I've always thought that self-driving cars won't be mainstream until local departments of transportation are actively aiding in surrounding recognition for these vehicles. Cities will need to make sure their paint is maintained much more often so that yellow and white lines are much more easily recognized by AI. Also need more of those LED street lights with the hoods so that the colors of the light better stand out. I'm sure there are also better way to make signs more readable to AI as well, but all of these needs to be done with the help from local governments. Autonomous vehicles get better the more other autonomous vehicles are on the road.