I think the jury is still out on self driving vehicles, but the ever larger trucks and SUV's on our streets are a clear and present danger to life and limb. I'd focus on those in terms of street safety, as well as safe infrastructure for people walking or biking.
Each AV will be equipped with a person that will prevent the unicornification or removes the cone after-the-fact.
I do wonder if those cones act as a reusable catalyst, once the car goes in failure mode, you just remove the cone and use it again.
Anyway, there is something more revolutionary than an AV. It’s called not driving. It requires working from home, or decent public transport. Or it requires walkable/bikeable cities. Unfortunately this really solves actual issues but it isn’t as sexy from a technological standpoint I guess.