Chris Urmson, the CEO of Aurora and former CTO of self-driving cars at Google, talks with Recode's Kara Swisher about when autonomous vehicles will replace human-driven ones. Urmson, who started working on the technology at Carnegie Mellon University in the mid-2000s, predicts we'll see fleets of self-driving cars on some roads within five years, but that they won't completely take over for at least 30 years. He talks about the remaining challenges to making these vehicles completely safe — including the danger of their operators becoming complacent about the technology — and how their arrival will impact everything from government to public transportation to fast-food jobs.