IMO as we get closer to self driving cars, driving will become more dangerous. The problem is the way people react to emergencies. If you're at the wheel of the car not depending on any automation such as adaptive cruise control and lane keeping then your senses are sharp and your responses are quick as you're ready for anything. Then you drive more and more autonomous vehicles and while the owner's manual will be full of boldface disclaimers (absolving the manufacturer of liability) you will find it irresistible to rely on automation more and more especially as it continues to perform well. Once you stop paying close attention to the road and keep getting good feedback you'll spend longer and longer periods of time (like seconds) not looking at the road. Even if your car senses a situation that it can't handle and wants you to take over, you're not ready to suddenly respond to an emergency situation whose development you didn't even witness. People don't function well like that.
Note that the reason manufacturers are doing this automation has NOTHING to do with safety. They just want a revenue stream that funds more and more self driving development without biting off the whole enchilada.