The most likely scenario at this point it: - autonomous cars cause fewer accidents - so either insurance will be cheaper for them - AND/OR human driving car insurance goes up - even if only one happens, the relative cost of insurance will change in favor of autonomous - driving your own car becomes a kind of "prestige" thing where only really wealthy people do it (similar to owning your own plane etc)
Cars already are extremely wasteful assets in terms of resource, space and money if you live in a decently served urban area. It already irrational to have one 90% of the times.
An indirect and somewhat hidden cost like insurance is unlikely to move the needle anywhere near significantly.