I am not saying to get rid of cars altogether. I am saying that it would be better (and cheaper) for everyone if we took all those resources being out into "autonomous vehicles" and developed public transit first. Reduce the amount of yearly trips that are done by car. Provide alternatives.
The important thing about Japan or Europe is not "they don't have cars", but "people make 3-4x less trips by car compared with the alternative modes of transportation". If you want to have safer roads (in a way that doesn't give even more power to tech companies) the best way to do it is by simply reducing the amount of trips taken.