I just turned 72, my family history suggests lifespan to the middle to late 90's with limited function at 90-92 years. I do not expect the infrastructure and technology for what you envision in what is left of my lifetime. What I expect is limited use of low-speed self-driving taxicabs in dense urban areas, particularly where other types of traffic have been severely restricted.
Like Coolerman, I come from a 30 year career of software development, and my experience has been that you can program only for the situations you envision, and hope for human intelligence to compensate for the situations you didn't think to cover. Commercial aviation is approaching the autonomous stage (still cannot handle takeoffs and maneuvering to cruise) yet frequently encounter unanticipated situations requiring immediate human intervention. Their tightly managed traffic environment is several orders of magnitude less complex than today's road traffic. Self-driving vehicles in the broader context will require either an external control system, or intervehicle communication, along with elimination of all uncontrolled traffic, including pedestrians and bicycles.