If it follows other tech trends(eg: cell phones bypassing land lines), India and other developing countries will see self-driving cars before freeways and owned cars. Well, I'm an optimist.
Self driving cars don't need new infrastructure, its functionally an application that runs on existing infrastructure. If you have decent roads it'll work the same way whether you're in India or anywhere else.
Although I guess you could argue that Indians are less prissy about what they're willing to tolerate. A self-driving auto-rickshaw wouldn't fly in America, but it would be just fine for just about any Indian, and it's a much more useful application of self-driving tech than expecting everyone to have their own robo-chauffeured luxury cars.