I personally think that the most realistic way to fix this is to just increase insurance minimums up to a reasonable level, enough to cover a car full of statis

I personally think that the most realistic way to fix this is to just increase insurance minimums up to a reasonable level, enough to cover a car full of statistical lives. This, if enforced, would internalize the externality of injury into the cost of driving, and probably would make driving dramatically more expensive, which would hopefully create demand for alternate systems.