First off, most of us really aren't waiting for autonomous cars. Just saying it to grab headlines doesn't make it true. I bike mostly and enjoy driving when I do. I get motion sick when someone else is driving. I could care less about a driverless car.
Second, there's no evidence _at all_ that driverless cars will lead to fewer deaths. It's just pure speculation at this point based on the notion that computers will reduce the number of errors that lead to deaths. There's also just as good a chance that driverless cars will introduce a whole new set of ways that people get killed by cars.
Finally, despite all the hype and small wins by Google, if you actually think through all the technology that still needs to be developed before this is practical, we're not going to see it anytime soon. Sure, Google has some cool tech demos and Uber's convincing scientists to leave stable jobs for high flying startup jobs, but that's just a sign of research, not development. Billions are spent on research programs that are just a "few years away" from practical application. Driverless cars are likely in this category.
Now, what will be cool for consumers and insurance companies is when some of these technologies trickle into ordinary cars. Semi-autonomous driving on highways would be great and is probably only a few years away. Better accident avoidance in cities is also likely to emerge from this. This is the benefit of these billion dollar research programs: while they rarely deliver what's being promised, some really good things do come out of them.