I think this is a sensible comparison:
Tesla S performance = $84,900 0-60 4.4 seconds
Mercedes-Benz E63 AMG = $88,900 0-60: 4.4 seconds
BMW M5 = $85,700 0-60: 4.4 seconds
While googling for this I stumbled onto this article: Tesla Model S Sport to rival BMW M5, 0-60 mph in 4.5 seconds...