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It will take time to filter through to the wider market, but I don't think it is necessarily an either/or situation. Once this is legal a lot of cars will be sold with the ability to be driven manually or to be put into an automated mode. I would expect the majority of new cars to have the capability within 10 years once it becomes legal. It will depend on how much all the sensors etc. cost but a lot of cars already have sensors for the emergency braking stuff they do.
According to the link I posted earlier, Stefan Moser, Head of Product and Technology Communications at Audi has announced that the next generation of their A8 limousine will be able to drive itself with full autonomy. Initially it probably won't be legal, but there may already be thousands of capable cars on the road when it is made legal. If Audi are doing it, then BMW and Mercedes will do it as well. Citroen will follow (even if it breaks every 10 minutes).
"Take these three items, some WD-40, a vise grip, and a roll of duct tape. Any man worth his salt can fix almost any problem with this stuff alone." - Walt Kowalski
"Only two things are infinite - the universe, and human stupidity. And I'm not sure about the universe." - Albert Einstein
Seriously: If you value it, take/fetch it yourself
How will the car systems be checked and tested MOT wise? Who will take responsibilty for the vehicle - can't be the driver as they won't always be driving? How will the vehicle system be defended against hacking? Look at vehicle recalls and the costs of litigation and liability - how many years will that take to sort out?
My point is that the technology is the easy bit - implementation, rollout, getting them out there and proven, and solving all the unintended and non-technological problems have a long long lead time. Plus a spate of accidents and fatalities could easily add years to the process.