While people are correct in saying that self drive cars will cause accidents they seem to forget that self drive cars will cause far less accidents than humans. They don't get sleepy, don't drink, don't speed, can see in the dark, can see 360 degrees and have perfect reflexes.
Yes there will be accidents but there will be far less accidents. Mechanical failures will still occur and stupid people/animals will still step out in front.
As for preserving what we like about driving, that won't happen. Short of private roads and racetracks all human controlled driving will cease in less than 50 years. Cars will be moving too quickly and too close together, moving in formation to save fuel for any human driver to be allowed on the road. Car insurance will see to that long before the law does.
Sorry but the writing was already on the wall the moment DARPA created it's autonomous challenge.