Speaking in terms of pure economics, improvements to self-driving cars today will eventually lead to mass-market adoption and substantially lower costs for everybody.
Take cell phones for example, they were big, expensive, had only one function, and only available for the rich just about 30 years ago. Now they are cheap, powerful, pocket supercomputers available to mostly everyone.
Another example is farming and supply chain. 100 years ago you were pretty limited to the foods available in the local store, but now you can get anything your heart might desire, be that bananas from Mexico for 69 cents, or Sake from Japan for $20. The world has greatly benefitted from advancements in technology that was once only available to the richest.
Most of the mid-class luxuries we enjoy today, from airlines, to hot tubs, to game consoles and books on Kindle, all of that had to be developed and brought to light, first expensive, and then gradually cheaper and cheaper.
Eventually even the buses will drive themselves, and that will only happen if we invest sufficient energy and resources into making the tech available and improving today.