in russia the rampant insurance fraud ended in everybody getting dashcams to defend themselves. waymo and cruise have way more than just a dashcam - if you can successfully commit insurance fraud while being recorded on a dozen cameras as well as lidar and infrared sensors, you probably deserve the settlement.
That doesn't mean enough people will hit it to matter.
Short answer: in the U.S., it will depend on the facts and circumstances. Common law has many drawbacks. But organic adaptability is one of its advantages.
While this is not exclusive of other liability, probably one or both of:
(1) The person hit, if they were breaking the law in a way which made it unreasonable to expect a driver to avoid hitting them,
(2) The manufacturer of the self-driving vehicle, under normal defective product liability principles.
The owner and/or, where different, operator of the vehicle, as well as other people in the chain of commerce may also be liable, especially when (2) applies.
You can't just stumble onto the highway where the normal traffic flow is well in excess of the speed limit and expect to get a payday because whoever hits you will be speeding.
That said, most of this goes out the window if you are committing a handful of crimes that society has decided exempt you from most of the protections of the legal system (terrorism, driving drunk, etc). If you are drunk and someone jumps in front of your car to commit insurance fraud it won't matter if you have 360deg 4k video of it, you will likely lose.
As is usually the case with the legal system, whoever has the least amount of political/economic power. So either the safety driver or the victim.