Humans are held responsible if they cause harm to others.
If a driver hits a pedestrian on purpose he is charged with murder.
Who do you charge if a self-driving car behaves in this way?
Believe it or not, your car is not that primitive when compared to a self-driving one in terms of the number of things it does autonomously.
If a company makes a self-driving car and that car then drives badly, surely the response needs to be to incentivise the company to improve their engineering practices, eg, spend more on testing, or require more levels of review of changes, or whatever other organisational changes they need to make safer cars. You don't need to find an individual person responsible to create that incentive. And if you really do want to find an individual responsible it can easily just be the executives of the company (and the executives are probably pretty easy to find even a decade later).