What's the best way to avoid scams and/or death when selling a car on Craig's List?

Of course I know not to accept money from overseas and ask for a money order and all of that, but I’m wondering specifically how to deal with the transactions once I find people who seem like serious buyers. Should I keep some sort of collateral while they test-drive my car? Or should I ride along on the test-drive? Is it best to meet in a public location like a park rather than tell people where I live? My father is in another state and has been watching too much Dateline so he’s freaking out that I am going to get swindled or murdered in the process of trying to sell my car. Any help is much appreciated!