Remember that self-driving cars have many ways to perceive. If I remember correctly, there are motion sensors, an infrared analysis of the road, etc.
Besides, every sliver of light is a lot for a perfected receiver, depending on the technology. I don't think that the dim lights could affect the cars performance all that negatively.
Oh. I'm still looking at it from a manual sense. I really do not know about the car's perception but even with motion sensors and the infrared sensors, it is limited to a particular distance.
I believe self driving cars are here to stay but first, a thorough enlightenment should be given to people, so pedestrians and manual drivers do what is right, just as the cars are programmed by default to obey traffic rules. If a driver disobeys traffic rules when a self driving car is present, an accident is likely to occur.