No it won’t, insurance doesn’t need better than human performance it just needs to be able to quantify the risk and price their policy accordingly.
If there is no driver it’s already lowers the risk even at as good as a human capability because you remove one potential human casualty from the equation when it comes ride services.
If AVs are going to be slightly better at causing fewer pedestrian casualties then it reduces the risk even further.
And even if the premiums are more expensive because of higher risk the question will be are they $30-50K which is the “salary” you would have to pay a full time driver at a minimum in the west these days a year more expensive.
If Uber will have to pay $20-30K per car per year in insurance it will still be cheaper for them than to use drivers. And that’s at about 10 times the average care insurance cost right now.