They'll do what we've been so-well-trained-for at self-checkouts: the passenger might be given control of the vehicle in such situations (e.g. loss of network connection).
>within 5 years
As for predicting the future: I think within five years ALL vehicles on public roadways will require a beacon for travel, simply to alert other self-driven vehicles & intersection controllers. This process will be gradual, akin to "insurance discounts" for allowing driving habit monitoring (e.g. without a beacon, traffic lights won't auto-cycle for you).