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I think there are a lot more regulatory hurdles when going from a normal car to a self-driving one than from a horse to a car.

In a sense a horse is somewhat 'self-driving' in that an accident could be entirely due to the behaviour of said horse and so this would provide a strong impetus to move to a car which is fully under the driver's control.

Going to a self-driving car shifts back to a system that is not fully driver controlled and thus has to deal with all of the legal issues about who is culpable in the case of accidents and so forth.

oh I thought it was because in 20 years climate change will have set the civilization capable of having cars to null.