Having a single self driving car is very different to self driving cars being a standard. I don't think anyone denied that self driving cars were already pretty much out there. They still have a way to go and many problems to solve though, which as you say in 7-10 years probably isn't unreasonable. Driving in the conditions of the video is very different to driving through downtown New York.
Consumer adoption of them will lag, hence me saying it'll be 20-30 years before you see them frequently. Although I'm sure there'll be tons of marketing campaigns that promote drivers as irresponsible killers and graphic government public service ads with car crashes and kids dying, before finally it's made illegal to drive your own car (sometime 2040-2060).