My understanding is that that is a punishable offense in most states, so that's a matter of consistently enforcing existing laws rather than introducing any new ones.

Anyway, the mechanisms I have listed can still drive adoption of self-driving cars and reduce the number of human-driven cars on the road which also reduces the number of fatalities if the self-driving ones outperform humans. And if we look at QALYs instead of fatalities there may be additional benefits.