It seems like it would actually be "better" to indicate (audio and/or visual alert) to the driver actions that should be taken rather than taking them automatically.

1. Indicate to the driver that they drifting out of their lane 2. Warn about possible slow or stationary object ahead

If the driver knows that car won't take action on it's own, but will help them but telling them about things that can't see (or when they are distracted), then we wouldn't be blaming Tesla but the driver.