The transport authority in Oslo (Ruter#), has been running self driving services for a few years now and there is some info about it at https://ruter.no/en/about-ruter/reports-projects-plans/auton... .
I don't live in a part of town they've been experimenting in. But what I've seen indicates that what they are doing is running slow moving, small self driving busses in areas where it would not be cost efficient to use a bus with a driver. Since they are slow driving, the self driving problem is a lot easier, you don't have to see that far off, and stopping is faster so you don't need to model the future far out to be safe. In addition low speed collision are safer, which makes failures safer aswell.
