Self-driving cars in there own lanes on freeways would work right now. Convert carpool lanes on freeways to toll for self-driving cars. Maybe let people get a s

Self-driving cars in there own lanes on freeways would work right now. Convert carpool lanes on freeways to toll for self-driving cars. Maybe let people get a special license with a special training course and, if they can drive like a self-driving car (no fucking around, always have the right following distance, etc,) they can also go in the toll lane. As more and more self-driving cars come on-line (and every major car manufacture has the tech to do this already) convert more lanes to self-driving only. If you really want to get crazy, relax the passive safety features of these self-driving cars and they can be made very inexpensively. Add cheap tunneling for future additions to the road network and cities can be super dense with individual, point-to-point, transportation systems.