It seems that could be easily solved with regulation. The self-driving cars could even automatically send a video of incidents to the police.

Reckless driving is already a crime (not just a civil offense) in many states. In New York:

"Reckless driving shall mean driving...in a manner which unreasonably interferes with the free and proper use of the public highway"

Simple aggressive driving as described in the linked article is, well, not a real problem. Unless you cause an accident.

Manual overrides (or 'defensive' mode) needs to be available. Or carjackers will simply be able to stand in the road and wait.