This isn't a realistic consideration in any short-term future. That assumes 100% of cars on the road are self-driving cars which are talking to each other. That is decades away at the absolute best speed scenario. But self-driving cars won't make it to that point if they can't cope with the world we live in now.
How would you walk across the street then?
Hopefully, you'll just cross anywhere, and they'll just stop for you. Maybe we can figure some way to indicate you want to cross, so that they can slow down smoothly - as posted above, Google software can already read hand signs by cyclists.
Standing facing the kerb and looking at the traffic is a pretty good way of indicating you want to cross. Not sure how it would handle the other factor though: eye contact.