To demonstrate the underlying structure of the innovation process, I'm using Category Theory tools (OLOGs) originally created by D.I. Spivak from MIT.
Here's a series of draft figures with an example of how the logic of innovation had worked in the technology revolution initiated by the automobile with the internal combustion engine (see below).
Note, that the same logic can be applied to the modern autonomous vehicle. The technology is going to be successful because it creates incredible maneuverability at the "traffic" level of abstraction.
Now, back to the horses example:
Fig. 1 introduces the trade-off between Power and Maneuverability. An eight-horse carriage has a lot of power, but it's difficult to maneuver. Adding more horses will create a huge maneuverability problem. On the other hand, a horse rider is highly maneuverable but he lacks the carrying capacity of the horse carriage.