Bob Lutz worked for Ford, General Motors, Chrysler, and BMW, usually as a product guru. I believe he was the guy responsible for the Dodge Viper. He predicts that in 20 years (at the latest) human-driven vehicles will be legislated off the highways.

The end state will be the fully autonomous module with no capability for the driver to exercise command. You will call for it, it will arrive at your location, you’ll get in, input your destination and go to the freeway. On the freeway, it will merge seamlessly into a stream of other modules traveling at 120, 150 mph. The speed doesn’t matter. You have a blending of rail-type with individual transportation.