I have a friend who is an engineer up here in CT where he is designing sensors for drones to avoid collision. He says they already have it good enough that if flying at chest-high levels, a human cannot catch it while on foot if they tried. Thats how good the evasion sensors are already.
IMO the only threat to automated cars are the people who want to be in control. Because humans suck at controlling cars. Like, we suck real bad at it. It doesn't matter how good you are at driving, because ultimately you are not going to be as good as a machine, and you have absolutely no control over another human driving in another car so your fate is often out of your hands anyways. Once cars are being driven with a hivemind everything will be glorious like it is in the Minority Report scene.