How, where, and when will self-driving driving cars be legalised?
It’s already legal. Today. Totally. For end consumers, not just testing. In Florida.
I’ve written on this issue and the material below is from an earlier answer (How long will it be before Uber's self driving car fleet doesn't require the presence of a driver who can take over?).

There is NO grey in the enacted Florida legislation.
Competition between the states is real. The outcome is certain…in a few years (2019/2020) 80% of the USA will authorize fully autonomous Self Drive Vehicles (“faSDVs”). And the rest shortly thereafter. Ditto for first world nation states.
Government always follows. But Governments will get there eventually. Especially when voters want the ‘change’. The faSDV authorization process is well along. And the first state (FL) has fully authorized faSDVs for real people.
Since the earlier answer, other states have moved even farther:


And more laws on the way:


Even the failures communicate ‘direction’:

We can see the direction….approval. NO states are considering outlawing faSDVs.
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Originally Posted on Quora.com 2017 01 08: https://www.quora.com/How-where-and-when-will-self-driving-driving-cars-be-legalised/answer/Bob-Reisner
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