Tesla's system demands more from drivers than manual driving. The driver has to detect automation failures after they occur, but before a crash. This requires faster reaction time than merely avoiding obstacles. Here's a good example - a Tesla on autopilot crashing into a temporary road barrier which required a lane change.[1] This is a view from the dashcam of the vehicle behind the Tesla. At 00:21, things look norm…
It might not solve all these accidents but I think a HUD showing where the car plans to travel would work better. If you knew the car was aiming off the road before it turned, you could override the controls in time to correct. It still would require lots of attention and fast reaction time (and still may be less safe than manual driving), but it would at least be better than the situation we are in now.