I guess we are just going to have to wait and see, aren't we?
Here why I believe you are totally incorrect with your prediction. Software companies want autonomous cars to happen, car companies want autonomous cars to happen, logistics companies REALLY want autonomous freight. It's only a matter of time. And your proverbial family of four or their relatives will be appeased with a five million dollars lawsuit settlement and the whole thing will proceed anyway because that's what the big money wants.
As for the tech itself, you should pay more attention to where the research is. scene recognition is at near human levels already and in many cases at superhuman levels. A couple more years of hardware and software progress and humans will be no match for a self driving car in terms of safety and efficiency. None of the latest systems are hardcoded in any way. They are _trained_ on millions of hours of safe human driving data and they are getting better every hour of every day. How many hours of driving experience have _you_ logged in your lifetime?