In reply to myself I think the solution is to just change the infrastructure. Add wireless signals to lights, put intelligent traffic lights on all roundabouts.
It will cost a lot, but I don't think it is too much. At first we will start with the hybrid car that self drives most of the time, but still needs our input from time to time. Everyone will get tired of this and start pushing the government to upgrade the lights and roundabouts to handle the new cars so that they can finally become autonomous.
I'd image the major cities would implement this first allowing the the fully autonomous taxi's etc.