The Tesla Autopilot, Nissan ProPilot and the like only keep the car in lane and depend on clearly defined lane markings to do do. The Tesla Model X that killed its driver on the Freeway, recently, did so because the lane markings were not there. The issue with not stopping for a stationary object is also understandable. The car will follow a moving object, slow when it slows and stop when it stops. However, it will ignore stationary objects that it has always "seen" as stationary. Otherwise, how would it ever drive under a flyover, or pass a lamp post? The reason why the Tesla crashed into the stationary police car, again reported recently.
The problem isn't with the cars, it is with the numpties who drive them. All the appropriate manuals tell the driver they must keep control, watch where they are going. But who reads the manual?
I think, as the insurers say, cars should only say "assistance", and should not be described as autonomous until they can drive unaided by a human driver. In fact, it should be illegal to use "autonomous" in a car advert or brochure until such time as they can drive themselves.
Manufacturers are not doing the cause of Fully Autonomous vehicles any good by their approach which is giving the public the impression that the technology doesn't work. The technology does work, for what it is designed to do. It is just that some drivers think (or more likely don't think) it can do better than what it is designed for.