You understated the constraints and missed the most important one: almost never, ever kill anyone. Driving around is relatively easy. Driving around and almost never killing anyone is much harder.
You have to do better than not killing anyone. Every single accident, including ones not your fault, will be used against you to argue that your systems are death traps. You can't injure people, or cause property damage, or even be rear ended.
You have to produce cars that are able to drive so defensively, that insurance is no longer necessary