There's an element of using these systems that people don't usually discuss. One of the forks, Sunnypilot, enables a mode where you control the pedals but don't

There's an element of using these systems that people don't usually discuss. One of the forks, Sunnypilot, enables a mode where you control the pedals but don't have to do the steering. What I've found is you do pay attention in this mode, and since you're controlling the brakes you can easily avoid most issues that you would get with self driving. But, not having to have your hands on the steering wheel makes the experience a lot more pleasant. Also, with traditional lane keeping systems, the so-called "longitudinal" control (accelerator and brakes) is where in my experience the system makes the most mistakes. I think this mode is something car manufacturers should enable in general. I actually suspect it's significantly safer than completely hands- and feet-free driving modes, and you get most of the benefit of lane-keeping assist.