Excellent question by the OP. Civil Forfeiture is an issue when not done for the right reasons. If compliance is made absolute by driverless cars for the rules of the road( traffic based) then apart from not needing traffic cops is the least of our worries. I would suggest reading cory doctorows work on this subject. http://this.deakin.edu.au/culture/car-wars You are right to worry about constant surveilance. Who controls the ID layer to activate these cars will be paramount.

there might be an ID check everytime someone enters a self driving car, which lets be honest will be shared most of the time. So it may be sold to us as an easy payment system. Frictionless as the SV people say.

Absolute compliance with a set of rules will bring about change in the way we think about results of non compliance