As the poll is written, I interpret 'driver' as meaning "the occupant of the vehicle in the front seat on the side customarilly designated the "driver's side". I also interpret "fully autonomous" as meaning "nobody in the car has any direct control of the vehicle's operation, except for destination selection".
As such it makes no sense to require a person sitting in a certain seat to have a permit or a license, or even insurance for that matter. Consider the case of fully autonomous taxis where the owner and operator of the vehicle is not even in the car at the time. Or even private cars which are merely transporting themselves from point A to point B. (For example, from a distant parking lot, or even from the home when the driver decides he needs a car to transport some unexpected cargo.)
For that reason, it should be the *owner* of the car who should be required to operate the vehicle. That sure as hell would need to include some kind of liability insurance, and perhaps a permit in case the car is to be used as a commercial taxi. It would also need to pass regular safety inspections, just like non-autonomous cars do.
In the case where there's an autonomous car that also can be operated in a non-autonomous mode (such as driving off-road or manouvering for towing etc) I think a driver's license should be required in order to operate the car *in that mode*. (Another option might be to make any such operation speed-limited to perhaps 25 kph, and not require any license, analogous to "moped cars".)
This is all of course hinging on the existence of "fully autonomous" cars some time in the future. I think a vehicle fitting that definition is certainly many decades off, even though I think it's possible we'll see "partially autonomous" cars requiring a driver responsible to take over in case of unforseen circumstances, although I suspect people will soon realize that allowing an occupant of the car to take over from the software would cause more accidents than were prevented. (Computers are a lot better at knowing how a car handles than people, especially if the driver ceases to operate the car himself, "forgetting" how the car handles.)