To me, the key factor is blame. Who do we fault in an accident? We can't imprison an algorithm or put it in jail. But we can implicate a careless driver. A loved one should not have to die because a truck happened to be the right shade of white — not without much discussion and the possibility of legal recourse.
There are many horrible, systemic things we could do to improve the lives of the majority at the expense of a few. In the end, we usually determine that the rights of individuals outweigh the utilitarian benefit. Does the same reasoning apply to self-driving cars? I don't know. If the technology proves as safe as people make it out to be, maybe things will end up OK. But it's not a closed case by any means.