What I'm describing isn't reshaping your city to fit in self-driving cars. It's doing the things that we should be doing anyway to make road fatalities less embarrassingly huge and with that helping self-driving be an easier problem to tackle. Human drivers should be keeping much larger following distances and indicating properly. Road markings should be much clearer. Signage should be unambiguous. We should do all those things even if we don't care about self-driving cars just because they avoid accidents in general.