Dooring people aside, what do you do if someone just leaves the door open when they leave their ride?!
Continue billing them for the ride and send an app notification or phone-call to their phone.
Other potential solutions: If the door is still not closed after n minutes, plead with passers-by, or offer a passing or nearby rider the chance to earn credit by closing the door.
Waymo needs to have staff in SF anyway to pick up cars that malfunction (flat tire, or just close the door).
They're probably too stupid to think like that, though.
Of course, passing costs to all insurance companies is really the same as passing it to all people paying insurance premiums, at which point you can just use tax money to get the same effect. At which point, it's probably easier to regulate it and have the cost passed to everyone buying a car.
Tesla already has dooring prevention. If it detects a bicycle or something coming, it prevents you from opening the door the first time, and shows a warning. You can override it by trying to open it the second time, if you are sure.
https://www.reddit.com/r/teslamotors/comments/1gwjq4v/new_an...