It will happen. When it will happen is impossible to predict.

But I am pretty sure it will happen within 20 years. 5 years? Unlikely.

In any case, it will require much better testing than just letting it learn on the street. A vehicle should be able to deal with a snow covered road in the dark going down a hill with babies crawling across the road.

And EMP-induced total electrical failure. No sense in a million people getting injured at once, should that ever happen. Emergency brakes should quickly engage in a predictable way when power is lost.