The only reasonable path is to have vehicles be able to handle all situations, which is the really tricky part, because then you have to teach a computer to think like a human, which is obviously not currently possible, and I don't think anyone sees it happening for a long time. So without that, you are left programming all foreseeable situations, which still leaves the unforeseen ones.
Having centralized systems that cars rely on is a non-starter, because they could go down, or be jammed etc. They can be used to supplement information, which will be really useful, but the car still needs to be able to reason out all situations. It may not have to do that optimally for everything, but we will expect them to do it safely.
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