Given that I have no way of communicating with the driverless car and communication is often important to driving, I'd rather the kinda bad driving person. I can compensate for their bad driving when I spot it and give them room. Or sometimes i can even convey information that helps them be safer while they're not paying attention. I've definitely stopped crashes that didn't involve me using my horn.

There's no amount of discussion or frantic hand waving that will alter the course of an automated vehicle.