Technology
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At this point, I vote for whatever is most well-demonstrated to be safe. I like your ideas.
I was also thinking, maybe a standardized protocol could be implemented where municipalities can broadcast a signal containing the local road rules, which could then be interpreted by the car's processor. If you could get enough bandwidth then you could feasibly even give site-specific instructions, like provide extra breaking distance and signal time at a specific intersection (or you know, the light status lol), or road state characteristics like dryness, or lockout areas with road work or accidents.
However, I also think that the driver should ultimately be responsible for the safety of the vehicle's operation for the time being, including when the vehicle is driving itself. The driver has the ability to hit the break and take control. While the technology is this immature, it is irresponsible for the operator to not supervise it. Fine the manufacturer a hefty fine for implementing unsafe technology, and fine the operator a much smaller but still meaningful amount for unsafe operation.
Unfortunately, due to the number of vehicles on the roads and the resource and pollution intensity of manufacture and maintenance, the best solution to these problems is to replace personal vehicle infrastructure, not to upgrade it.