Holding back the tide
I'm not all that big a fan of vehicle autonomy as it is VERY difficult to do properly. I think that operations like Uber and Tesla should, based on their records, be banned from further participation in the technology. We'd all be a lot safer without companies that prioritize profits over safety. But, I must say that Waymo does seem to be taking safety seriously and has compiled an enviable record. Good for them.
There are classes of accidents where autonomous vehicles will surely outperform humans. For example, there are incidents labelled "Looked But Didn't See" (LBDS) or Looked But Failed To See (LBFTS) where a human driver -- often but not always elderly -- looks at oncoming traffic, presumably sees a vehicle or pedestrian, but somehow the information never makes it to the brain. That presumably won't happen with properly designed autonomous systems.
That said, I think that there is probably a class of accidents caused by autonomous vehicles failing to recognize or improperly catagorizing entities. And another class caused by situations that humans recognize as problemetic, but computers won't -- bad/confusing signage, non-standard traffic control devices (a blinking red arrow currently may not mean the same thing everywhere), humans attempting to direct traffic flow, livestock on the road. There's also the problem of undetected hardware failure. I don't know how you'd simulate things like that. We may not know how safe autonomous vehicles are until they are in general use
Anyway -- autonomous vehicles are probably going to happen. Not as soon as many people think, but within a decade or two. Let's hope they are designed by people who take safety seriously and are regulated by entities that are not puppets of the car industry.