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We already put ourselves in situations like that when we take mass transportation, sit in rooms with one exit, enter retail stores, and so on.

Also, consider that with enough driverless cars, the congestion at intersections should be reduced (many lights will no longer be needed, especially during low-traffic times like night.) The danger at congested stops would be equal to now, and it is nearly impossible to drive away from danger in a multi-lane column of stopped traffic.