I question how much peace-of-mind self-driving cars bring to the intersection situation. While the inattentive human drivers are annoying, they're also predictable. As a pedestrian, I just wait for the driver to look up and go (or stop) before I proceed. The behavior of self-driving cars is, in my opinion, much harder to predict. Who knows when the buggy control software will cause the car to slam on the gas? Of course the software will be carefully written and tested. However, anyone who writes software for a living knows that carefully written and tested code often goes against economic incentives like "release fast" and "add more features to sell more".