Here in Pittsburgh there have been local news reports for a couple years about the driver-less research vehicles from CMU cruising our roads. Not even the CMU professors are saying 10 years, though.
I expect that interstate turnpikes will be the first to become driver-less roadways. It will be a feature, not a requirement. Like the transponders that let you skip the toll booths.
But I live out in the middle of nowhere on a dirt road. It will be a while before a computer can determine the difference between the road and the cow path that crosses it.