In certain places (big cities in Brazil come to mind, maybe even some places in the US?) it is customary to ignore certain red traffic lights at night because stopping there is very likely to get you carjacked. I'd like to see the autonomous car that can do that correctly and safely.
Same goes for when the lights at a junction are out of service. How will an AI handle that?
In general, proper autonomous cars are going to need a shit-ton of data collection at a very fine level everywhere. Together with the required sensor suite, the cost increase over a normal car in the same class is going to be huge. I'm not talking 20%, I'm talking at least twice as expensive.
This is why I think Ford are making exactly the right bet: taxi companies will adopt driverless cars many years, even decades, before private drivers. Because a taxi company saves a lot of money on not having any drivers (I'm guessing not far from 100-150k per year per car) on an autonomous car, they could easily afford to pay $150k for a Ford Fusion (normally $30k).