It can't just be 2X or even 10X safer than humans if the manufacturer is liable for the accident. That would EXPLODE the cost of these cars and bankrupt companies -- even if just a small fraction of today's fatal accidents due to driver error became Google's liability.
Consider that even single-vehicle accidents, which today might be the driver's fault, could result in a manufacturer lawsuit.
This is why I think fully autonomous without any human to intervene is a pipe dream, because the safety level required for that is pretty close to perfectly bugfree in an almost infinitely complex world of roads and conditions. Just for liability reasons.
These test cars of course have human copilots. But it remains to be seen if that really will grant manufacturers immunity for accidents. If the car is perfect 99.999% of the time, wouldn't that train the human to trust it and not pay as close attention? And then miss that 0.001% of the time when it hurts someone? Would a judge find it reasonable for a human to stay vigilant and responsible for that fatal corner case bug that cropped up after two years of perfect autonomous driving?
Liability is The. Critical. Question.