I could be coming from a totally wrong direction, but has anyone even thought "why even bother?" Because if self driving is the goal, the public roads infrastructure needs to be totally overhauled, in my opinion, in addition to the vehicles and creating this monstrous AI. So again, I want to understand what is the point of giving up the freedom, and yes for some even exhilaration & pleasure of driving a personal vehicle? Just so someone can get from A to B while pecking on their mobile or reading or sleeping? Won't efforts be better spent toward modernizing infrastructure so that public, elegant and comfortable transport would become so ubiquitous to make personal vehicle driving merely a hobby?