The Two Futures of Driverless Cars

The main issue of self driving cars is ... liability. Who's responsible for the results of the inevitable bugs and errors, the failures of certain systems, etc? That's the reason why Tesla requires drivers to still monitor everything and be ready to intervene. In theory their system is capable of safely maneuver streets - but just in theory. Lane assistants are also a perfect example: they work fine 9 out of 10 times but sometimes you still need to intervene. Or speed control with stop & go and distance sensing tech: works great most of the time but you'll regularly need to intervene. 

So who's responsible in case of an accident that's caused by a malfunction of the autonomous driving system? The owner of the car? The "driver" who's now more a passenger? The Car manufacturer? Nobody at all ?