What's incredibly dangerous is thinking of this sort of system as "self-driving". But a car that can make most of the low-level driving decisions for the user, such as attempting to steer itself to stay centered in the lane, is going to make for a safer driving experience. It's just incredibly idiotic to market this sort of advanced driver assist as "self-driving" or "the car driving itself", and as something that allows the driver to lose focus; much of the controversy about Tesla is due to them having done exactly this in the past, and in some cases still doing it.