>human drivers routinely do things that are not justifiable by vehicle physics (e.g. stopping distances) because they have a comparatively sophisticated and unconscious understanding of our physical world, how changes may develop and how other human drivers or pedestrians might react
Whatever "we" do is justifiable by implication because what is and isn't justifiable is set by consensus. Traveling 85mph with 1.5sec following distances might not leave much room for error but it's still "justifiable" because what's "justifiable" is a function of what everyone considers ok to do.
Self driving systems don't need to kill less people, they need to kill less people in edge cases that are so trivially avoidable to humans that the only people who have similiar kinds of accidents are incapacitated.