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Insurance companies will be the driving force of this change.
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I'm not so sure. I can't see insurance companies championing this for the long run since it could basically destroy their business, especially if roads were converted to "automated vehicles only". Maybe you're right though - maybe we'll always need insurance, but I can't see them justifying high premiums.
Another thing that I didn't see brought up is that if this technology is advanced enough and roads (or at least highways) are made to be used exclusively by self-driving cars, we would likely see higher speed limits.