We have held humans responsible because assuming a correctly functioning car they are performing the most complex and risky task, and are most able to cause problems. Likewise self-driving car software performs a complex and risky task in which failure can have serious consequences.
As a pedestrian you already run a significant risk of being killed by a car. To the extent that we hold autonomous car makers responsible for these deaths (and I'm not saying we shouldn't), we should hold non-autonomous car makers responsible for the deaths their vehicles cause as well.
Slow your roll. Nobody know why this person died yet.
In this case, the operator was an AI that was negligent and it was unlicensed/unregulated. That's a new scenario. In the human case a person might go to jail for negligent vehicular manslaughter. What does 2 years of jail time look like to an AI? What does a suspended license look like to an unlicensed entity?
For scale: the risk of death from a self driving car will probably be less than the current risk of death from normal cars, and will definitely be less than the risks incurred in the 20th century from cars, buildings, etc.
Self-driving cars are definitely a new and large legal development, but there's no reason to think existing legal principles can't handle them.
As the GP states, the entire reason Uber is testing in Arizona is because their state government completely got rid of reporting regulations which were present in CA; the status quo is decidedly not the same as it is for established technologies.
As for scale, look at the other comments where people analyze the risk posed by self driving cars. Your assumption that the risk of death from self-driving cars is less is not backed up by the evidence.
It’s fine to say that self-driving cars might eventually be better drivers than humans, just like robots might eventually be better at conversing than humans.
There is no reason self-driving cars can’t be be tested in private. Uber can hire pedestrians to interact with them—I don’t volunteer to be their test subject by deciding to take a walk.
Self-driving cars are a new and important industrial development that will require adjustments to policy. They don't require revolutionary new legal principles.
Moreover it is not clear to me that not holding the companies that create industrial robots that kill people criminally responsible is what most people would consider just. Again, I think it’s just that there is a massive difference in the scale of exposure; there were not enough interested people to have a debate.