If all the sensors involved in the self-driving aspects are recording (a la an airplane's black box), re-creating a given automobile crash will probably aid insurance claims more than hinder them. It will allow the parties involved to accurately place fault - be it failure of the AI, unexpected circumstances (tree falls down, non-AI car sideswipes, etc) and so forth.
The sad thing is that most cars have "black boxes" but are usually never used in cases for whatever legal reason. Hopefully that will reverse some over time.
But most of those black boxes only cover actions of the vehicle with said box installed.
With the amount of data required for self-driving cars, the entire situation could be recorded - things external to the car. It would be like the airplane black box, but for all the vehicles in close proximity too.
