If only it were easier to get the stats in the form of "damage in property/lives in the form of dollars per mile driven", that would let us kinda-combine both big tragic events with fender-benders.
(Yeah, I know it means putting an actuarial cost on a human life, but statistics means mathing things up.)
Putting aside Waymo specifically for a second (whom I believe is the leader in the space, but also self operates their own custom cars).
If the current state of commercially available ADAS was dramatically reducing accident rates, then Teslas etc would have lower insurance rates. And yet they instead have higher insurance rates.
AFAIK, it's due to things like single frame construction and expensive + backlogged parts which you order directly from Tesla (as opposed to, eg, a drivetrain that may be made for 3 separate manufacturers).
Or, when you do have an accident it's typically more expensive to repair.
I think my car insurance policy actually does detail what they believe every part of your body + your life to be worth, it might be my old policy though. From memory an arm was £2,000
[Edit]: found the policy:
death: £2,500
arm or leg: £2,000
blindness in one or both eyes: £2,000
As my father quipped to me when I was younger: 'You know the best thing about a three-legged dog? It's not sad about the limb it's missing: it's happy for the three it still has.'
I don't think that's possible. I don't think this is a "cooperate greed, nobody wants to end the gravy train by starting a price war" situation. I think it's a "the myriad of stuff you have to do to run a compliant company sets the price floor" situation. The fact that there is no nuclear "well I guess I just can't afford insurance, if I lose my house so be it" option available to customers prevents it all from caving in.
Perhaps the best way to address this would be to look at property damage for car-car or cat-object collisions, and a separate stat for car-pedestrian accidents.
In collisions that don't involve pedestrians, the damage to the car/object is generally proportional to the chance that someone was badly injured or killed in those cases - the only thing you get by adding human life costs is to take into account the quality of the safety features of the cars being driven, which should be irrelevant for nay comparison with automated driving. In collisions that do involve pedestrians, this breaks down, since you can easily kill someone with almost 0 damage to the car.
So having these two stats per mile driven to compare would probably give you the best chance of a less biased comparison.
(Yeah, I know it means putting an actuarial cost on a human life, but statistics means mathing things up.)