eh, right now most people are massively underinsured; minimum coverage in California is like $35k, and most insurance companies won't sell you a plan with more than a half million of liability (at least not without an umbrella policy) - if we stop subsidizing driving through pushing costs on to victims of accidents, the cost of driving will go up. But yeah, it should be about the cost of a good umbrella policy+auto policy is now, modulo any savings if the self-driving car gets in fewer accidents.

but note, we're paying most of that already in the form of people who are killed and under-compensated by under-insured drivers. Increasing liability insurance minimums would roll that cost that is currently born entirely by the victim into the cost of operating a car, which is where it ought to be.