The German carmakers also have practically infinite money to throw at research and development, so they could catch up quickly.
Car companies don't write software, they outsource it.
Musk's first companies were software based, and he doesn't have an existing business to prop up, that's the main advantage.
If he manages to make his one car factory as fast as he predicts it will be able make as many cars as Ford's 30 factories, leaving Ford with 29 worthless factories. He'll need self driving cars just to get them out of the factory fast enough.
They can start working today in hopes to catch up later but it won't be fast.