Maybe the cars will be safe enough we can get rid of those restrictive laws.
Neither are church pews, why are you worried about ergonomically designed seats for toddlers? Daily 8 hour car rides?
Or is it along the lines you are worried you won't be paying enough attention to your child and something horrible could... while you are not driving?
Self driving cars don't have to drive like humans, they have to drive like 90% of the other cars. Remove the humans and self driving cars can adopt far more sophisticated traffic patterns than the simple stop/go of most city traffic.