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People have a massive misunderstanding of how fast the software for self-driving cars is improving. The reason autonomous cars won't be mainstream in 5-10 years isn't technical at all. ****, they're pretty much ALREADY better than human drivers. The reason is (going to be) political. When it becomes obvious that truck drivers are about to be en masse unemployed, politicians will step in and slam the brakes.
This is huge. Plus the weird way people are, where if traffic deaths in a year went from 15k to 250, you would still have people resisting, saying I AIN'T GONNA BE ONE OF THE PEOPLE MURDERED BY THE SELF DRIVING CARS. Same as you have people not wearing seat belts because they read of one guy who got trapped in a burning car and dies, and just ignore the 1000s of people alive solely because of seatbelts.