I had an insight. I discovered not-so-obvious value of "Punish irresponsible behavior" choice. If all self-driving cars will follow this rule, then it will make self-driving cars more predictable. People will know that they are safe as long as they (as pedestrian and drivers of non-autonomous cars) follow rules and their self-driving cars are properly maintained. 

Other alternatives (when a car tries to minimize number of victims, or tries to protect some categories of people, like children, at cost of sacrificing other categories of people, like adults, or tries to protect its passangers at all costs) lead to loss of predictability because the car will be OK with harming rules-abiding agents, consequently causing havoc because it calculated that it would, say, save more lives.