Have you ever looked at how humans drive? Not the drunks, but the average person - they are terrible. You are not better. Self driving doesn't have to be very good to be better than humans.
Which, these issues can be reduced if we stop giving people small slaps on the wrist for driving in ways that greatly endanger others. Hefty fines, temporary/ permanent driving bans, etc. Make people actually pause to consider their actions for once in their lives.
Wow, an improvement we can start doing _today_, that doesn't involve forking over billions of dollars to tech companies to pump out half-baked "self-driving" capabilities. These companies' mission isn't to save lives, in case that's not obvious, it's to _make money_. They are not and have never been interested in potentially simpler/ better solutions if they don't lead to sucking the consumer dry of their money.