It is worth noting that, for Kant, autonomy does not permit me to do as I please. If it is degrading for someone to deny me the status of a moral agent, it is equally degrading to deny someone else that status. In Kant's view, the only law I can impose on myself in a coherent fashion is one that simultaneously upholds the dignity of others.
A second misconception concerns authorship. To say that I must regard myself as the author of something is not to say that I am the author in fact. Consider the Fifth Amendment to the U.S. Constitution. Although I was not present when the founders drafted it, by prohibiting torture it articulates a principle to which I am strongly committed. So I can take responsibility for it even if I had to learn about it in a civics class.
Finally, there is the question of scope. Although Kant defines autonomy as rational self-legislation, this does not mean it is based on an intelligence test. By rationality he simply means the ability to recognize that moral agents have obligations; as such, autonomy applies to all of humanity regardless of education or social standing.
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