Waymo almost certainly will launch this year a fully self driving service, accessible to anyone, "within parts of the Phoenix metropolitan area, including Chandler, Tempe, Mesa and Gilbert" (https://waymo.com/apply/faq/) which is where their pilot program has been running for several months now.
See e.g. https://arstechnica.com/cars/2017/10/it-sure-looks-like-waym...
They already have at least 600 cars in that area and already announced plans to buy 80k cars.
So if by "mass" you mean "millions of cars available world wide" then yeah, maybe not 20 years but it'll take a decade to scale this world-wide.
But to me "self driving works in practice" will be validated within months of Waymo launching in Arizona and then they'll enter a phase of dazzling scale up to other cities.
For comparison it took Uber 7 years to outgrow taxis and I expect self driving to grow a bit faster.
Once the technology works it's just a matter of capital expenditure and physical limits of how fast you can scale car manufacturing.
It'll take many years to deploy this world-wide but I don't think this is the standard most people use when they determine if self driving technology works or not.