The development of Self-Driving Vehicles (SDVs) is fast, and SDVs are predicted to have the potential to change mobility, human life, and society. Several positive and negative effects of SDVs are listed in the literature, but as the effects can be both counteracting and reinforcing depending on actions taken by different stakeholders, it is difficult to predict the outcome. In this chapter a scenario planning method is used to identify certain and uncertain trends, and to draw four different but plausible future scenarios for the development of SDVs. The four scenarios create a platform for policy discussions, development of regulations, and decision-making of different stakeholders. Most importantly, it shows that the development of SDVs depends on decisions made today.