Autonomous flight with paying passengers isn't going to happen for a very long time.
One of the key components (imho), weather detection, isn't up to par yet. Particularly above the freezing level. Radar cannot detect dry ice. Dry ice exists in the tops of thunderstorms, currently with the latest update to the aircraft weather radars they're using algorithms to predict cloud tops and so far its about a 50/50 success rate. So if a radar doesn't see the top of the thunderstorm, it will let the plane fly through it resulting in very unhappy passengers (at the least). You can say, well they'll fix that, which is true, but they've been trying very hard the last 20 years, it will be another 20 before they get close.
You'll see driverless cars before pilotless planes performing public transport.