Is allowing autonomous cars and shuttles in towns voted on by local governments?
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It depends on the country. In the USA it’s going to depend on the state and the city.
For example you can’t turn right on red in NY unless allowed by a sign. This is different from everywhere else in the state and maybe nation.
NYC also controls taxi cabs tightly so if self driving cars are picking up fairs, NYC is definitely going to control them. I suspect many other cities are going to do the same.