If the computer is broken, replace the computer. Update the self-driving software over the internet. Why would you need to replace the whole car?
Unless, of course, a company tries to integrate points of failure all throughout the body, so that "replacing the computer" of the car or what have you becomes impossible due to the delicate electronic parts. Call me an optimist but at the price of cars today I don't think anyone but the super rich are gullible or decadent enough to fall for something like that instead of a cheaper, more reliable modular alternative. Unless the price of a brand new car becomes similar to that of a new phone, I don't think that future is very likely.
"Every protocol the car uses is proprietary and protected under DCMA / etc. There are chips in every component that don't allow the car to start if any component isn't a first-party part."
We're already seeing this sort of thing. Look at the Tesla. Or the Lightning connector from Apple.
[1]http://forum.roadfly.com/archive/index.php/t-8237302.html?s=...
Sure some of it can be over-the-air as Tesla has already shown, but the same happens on our current tech yet we still update the hardware pretty frequently. A new, better autopilot may not be able to run on a 3 year old car processor. Could you swap out the cars brains? Sure. Would that be lucrative for the car manufacturer? maybe not.
I think the biggest argument against what I'm proposing is that computers/phones have huge form-factor constraints that favor tightly integrated components - it's why RAM is no longer user replaceable in new, thinner macs. Cars, given their physical size, will likely never face that constraint making the modular approach you suggest much more feasible.
Sure, you could argue the interior will wear. Big deal. You'll have interiors you can swap on the power sled (battery + suspension + electric motor). Those sleds should last forever.
The same thing happened with desktop computers, but eventually the performance increases leveled off and people stopped purchasing a new computer ever 2 years.
It's hard for me to see how the car industry will go. Even today, there are people who keep cars running longer by replacing engines, etc., but most people want to replace the whole care before the drive-train gives out. My wife is ready to replace her 10-year old Honda Accord, not because of any drive-train problems, but because the upholstery is worn out, the AC sometimes blows hot air (I think it's some intermittent problem with the blend door, but it's hard to replicate the problem), it has some little dents and scratches, it makes funny sounds, and she's ready for something new. I can't think how any of those things will change with an electric drive-train.
Hell I bought my Nexus 5 on release and don't feel the need to replace it yet.