The biggest hurdle for self-driving cars will be ethics, such as 'the car brakes for a child suddenly crossing the street but then kills the old woman' or perhaps even make decisions based upon social status. Lots of options here.
Those ethics have to be agreed upon, and they will likely differ per culture, state, country, etc. It's a political and sociological challenge. It will be interesting crossing borders.
And then those ethics need to be implemented in software. I would refrain from saying it's never going to happen, but I doubt very much this will happen in our lifetime.