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Darwin strikes again. Unfortunately, the latter point is what some wielding a stick use as an argument to make Autopilot use more problematical. For me, checking my hands are firmly holding the wheel (usually lighter than autopilot would like) immediately prior to auto lane change is the third biggest issue that I find with autopilot (speed changes and lane flares/splits being the other two) and my lighter hand than autopilot detects as satisfactory is responsible for 90% of lane change aborts/disengagements.
The NTSB said:
The Tesla driver had not taken control of the car because he had been distracted by a smartphone video game
The Tesla's collision avoidance system was "not designed to detect the crash [barrier]"
Tesla's Autopilot system did not "provide an effective means of monitoring the driver's engagement"