Where I drive daily I constantly have to make decisions which no self-driving car system I know about can possibly do. They don't foresee upcoming gridlocks caused by you driving completely legally but blocking (again, legally) a car from crossing to a side road, that car again blocks the car behind it, which blocks the car in front of you from doing a left turn, which means that you can't move and unlock the gridlock. That's just one on my commute. Then there's driving uphill on snow, seeing a person walking on the other side of the road and a car coming in the other direction. You foresee that this car will have some problems braking for that person (which would be the normal procedure - I'm coming the other way, that car shouldn't try to pass the person). So, what I do is to slow down and give that other driver confidence to pass. And sometimes I have to do the other thing - speeding up a bit in order to create room for another car to let that car avoid problems (if I were a computer I would have no reason to think about that).
This is also something happening all the time where I drive. And tons of other understanding-the-traffic cases.
Self-driving systems only follow the rules. That is not sufficient. When general artificial intelligence eventually arrives - that's when we get self-driving cars better than humans, in any other cases than for trivial cases. And yes, computers could drive cars in trivial places, it's just that those places are pretty much non-existing where I live and drive.