Even if blame is cast, in the autonomous future that blame would be upon a company, or multiple companies, whose legal departments will spend great effort diverting the blame onto other people or other companies. No one individual will be charged with killing someone, and no one person will have a death on their conscience.
It really is the same with doctor malpractice, the doctor doesn’t go to jail because their patient died because they made a mistake. Transforming civil negligence into criminal negligence as you seem to be hinting at would be a horrible system.
My guess is, the pressure for advances in road safety over the years have mainly come from activists, people, individuals who have seen and felt the horror of road deaths. The pressure to improve cars is much less from companies facing rising insurance costs due to liability fines. Indeed, the scandals that we routinely hear about are from car manufacturers avoiding recalls because it is far cheaper to just pay out liability claims when they happen, knowing that they will often not face them.
With the removal of drivers from road killings, there will be fewer people feeling the results of road casualties. I don't mean in any way to ignore the families of those killed on the road, of course their anguish and suffering will always be there and will be brutal. But the fact remains, there will be fewer people witnessing and feeling the effects of road deaths. And so it follows that there could well be less pressure to improve road safety.
Civil negligence can turn into criminal negligence when deception is involved (see VW).
Self driving cars are the ultimate in road safety though, I mean, you cannot encode them to willfully disobey traffic laws (or doing so would be criminal negligence). Pretty sure they will initially be fleet vehicles anyways. The death rate will surely go down, no one with any credibility is predicting otherwise, but there will always people berating the few deaths that remain.
Autonomous cars aren't special, even among cars, in this concern, and it's not a remotely new problem for the legal system.