So if you think the timeline is 20 years at best then we need that present self driving cars be able to drive on present roads with human driven cars, pedestria

So if you think the timeline is 20 years at best then we need that present self driving cars be able to drive on present roads with human driven cars, pedestrians, bikes, holes in the road, some bad marked roads, roads without markings, roads with a bit of snow, heavy rain,fog. Adding some extra markings, special electronic markings for this cars is not a solution, and in this 20 years since the traffic is mixed you can't consider lifting the speed limits or changing the intersection rules, so I don't see how it helps the traffic (except maybe on small streets if you consider that people won't want to own their car and will use any random car. this random cars should be super clean and cheap to make people not own their own)