Humans would also improve with removed signage. There's quite a bit of research now that accident rates go down the more you remove street furniture and lines.

Humans would also improve with removed signage. There's quite a bit of research now that accident rates go down the more you remove street furniture and lines. Same with traffic lights - see the caution people use when the lights are out of order. I'd hope that a self-driving car has the meta data on board rather than just relying on seeing the sign. I'd also hope that they're designed to treat all junctions with caution, not just those with missing signage.