I would ALREADY trust an autonomous vehicle to be safer than many/most human drivers.
I am "coaching" a few grandkids through their road experiences in preparation for their road tests and I believe that (semi)autonomous vehicles are now WAY ahead of where they will be even 5 years from now.
Of course in that 5 years the algorithms and knowledge bases will be even better.
I went through this with their parents, that was scary too and there was MUCH less traffic on the roads then.
I think the race is already won, we're slow to admit it.
Hopefully FULLY autonomous vehicles will be here before I am too old to drive and before TOO many pot heads are behind the wheel (different rant, different threads for THAT issue).