Self-Crashing Cars: Who’s Responsible, Who’s At Fault In Death Of Pedestrian?

Video from dash-cam of the autonomous vehicle that killed a pedestrian has surfaced showing both the view from inside the car and what the human “safety driver” was doing. Did the pedestrian “come out of the shadow” or should the LIDAR system, which doesn’t use light, have detected her? Who is responsible in an autonomous crash if the car is at fault? Car manufacturer? Software? Owner?