That being said, RAND released a study this month, targeted at policymakers, that models how many human lives would be saved given the introduction of non-perfect autonomous vehicles, including a little javascript widget to try out various settings: https://www.rand.org/blog/articles/2017/11/why-waiting-for-p...
Crucially, this study models scenarios such as AVs being _half_ as safe as human drivers, yet still resulting in saving more lives over time. I think the question then becomes, who will be responsible for the missing 50% of safety when somebody gets killed by one?
Edit: Another question: if somebody you loved was killed by a self-driving car, would you be comforted in knowing that the technology was in aggregate saving the lives of other people? I have no answers to these questions... it's a hard problem.