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>A more effective trap would be a "no entry" sign on a one-way street (or one side of a dual carriageway), positioned so the car can't see it before entering the street.

reminds me of rollercoaster tycoon where you could trap guests indefinitely by using that technique.

you could make a "do not enter" sign with undertext saying "except non-self-driving cars".

Or just 2 to 3 people at a red light with the bags of salt.

While I agree this simplistic example probably wouldn't work, it's conceptual. Yes, if a road designer wanted to build a road that would trap cars, they could do so. Automated or not automated.

See the XKCD "Highway Engineer Pranks" for examples!

could just surround a car with 4 people. What is it going to do, run someone over?

This applies equally well to people driven cars.

People are willing to hit people with their vehicle to escape an attack.

It's doubtful we'll let self-driving cars make that choice (and in fact, would likely be illegal under current laws which prohibit weapons from being automated).

4 mannequins would be funnier.