I think there’s already a model to look at in this regard, and it’s the automotive costs themselves already have built in liability expense. The costs of recalls are certainly an accounting accrual, whether they happen or not for a model. I would think the same would hold true for the manufacturer liability for this technology as well.
That cost will be part of the fallibility calculations.
From everything I've seen, self-driving cars may only be feasible in an environment where people don't own their vehicles. Currently, it's relatively easy to allocate costs and liability because a car has a title, is registered in someone's name, and has a driver. Once you step out of this realm and into a paradigm where the car constantly interacts with external forces and is driven by someone (or something) other than the owner, a lot of the conventions about liability, responsibility, etc. go right out the window.
Interestingly, the biggest impediment to self-driving cars may be a legal system that can't figure out how to deal with them.