Even if companies figure out way to not get sued, its only matter of time until some very serious tragedy happens such as pregnant woman wearing same dress as color of sky crossing the road getting killed or car running in to school kids. Then there are obvious malicious usage such as modifying car sensors to fool self-driving system and purposely run in to people (cars as weapon scenario). One such thing and it could likely be the trigger for large public outcry, heavy regulations and finally game over for self-driving cars.
I think it might be more desirable to approach self-driving cars in more evolutionary fashion. We can start with self-driving only in less than 25 miles/hr scenarios such as heavy traffic OR sunny days on highways. Then we can start equiping our road networks with dedicated self-driving lanes, supportive beacons on roads and so on. Then gradually move towards make all lanes self-driving.
Why not?
I like how you added "by 2019-2020", as if doing the right thing 100% of the time was ever possible - let alone the goal. Of course, it isn't - Level 5 is just as good as a human. And extremely rare situation won't be handled well by a human either.