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Two types of self driving vehicles are introduced: 1) Independent self driving vehicle which is usually known as self driving vehicle with high capacity AI system whose price is very high because of high research and development cost, , and 2) self driving vehicle heavily dependent on information provided by road side information infrastructure. The second case needs a huge amount of investment to build the infrastructure and big amount of budget. Fortunately self driving vehicle of the second case needs much simpler AI than the first case. My proposal is A) building road side information infrastructure only city area and high way. Then we get rid of huge investment for wide rural area. In sparsely populated rural area, traffic is rare and simple AI based self driving vehicles, I guess, work well. I also explain legal liability of both 1) and 2) cases.