(As a side note, I wonder how autonomous vehicles will handle lane splitting motorcycles? They get pretty close to the cars to either side.)
https://www.google.com/patents/US20110202305
Free idea I've kicked around: Give away free dashcams to drivers that upload their footage nightly to Google (with user's permission), have Google process the data to find high risk drivers, sell that information to their insurance companies to properly re-price their premiums. Take a cut, share said cut with dashcam drivers.
Drive the price of human driven vehicle insurance high enough to where self-driving vehicles are the logical choice.
With a fallible human behind the wheel, you can't take chances like that.
(To be clear, I don't drive and am for pedestrianism. But I can see how it would be a problem if people can simply block autonomous cars. I'm also worried that a heavy handed response to that problem could harm pedestrianism.)