That's already happening. There are also some laws/policies which state that insurance premiums won't be increased for anyone who chooses to abstain from such a tracking program, but we'll see how long that lasts.
You don't have to raise the rates of someone who doesn't use the tracking; you simply lower the rates of someone who does - that's how the current tracking systems work, several insurance companies already have them.
I'm guessing here (no numbers to back it up), but likely the reason you don't see more of this is safe drivers would sign up for it, and in insurance the safe/low risk drivers are the ones already subsidizing the crazies and making it work. I took part in something similar for my insurance company (Progressive) and received a whopping 6% discount for safe driving.
My bet is until automated driving reaches a point where it can become cheaper than the insurance premium otherwise. At that point lies the critical mass where so many will buy it to save money that the price plummets towards zero/fully integrated basic requirement.