For the record, let me state:
Tesla Autopilot is not yet supposed to be at a point where it can take care of sleeping drivers. It might or might not save injury if someone accidentally falls asleep. Someone might accidentally (or intentionally) fall asleep being comforted to know that they might be saved by Tesla autopilot, but as we know, decapitation is one possible outcome (it already happened in Florida).
It is not supposed to happen that someone sleeps using today's Tesla Autopilot. It could turn into an emergency. Imagine this scenereo in that video above: traffic speeds up. His car starts going faster. An autopilot-assistance feature failure happens while he's asleep, and injury occurs.
If law enforcement is there, they could cite him. If other cars are there, they should politely attempt to wake him up (generic honking and yelling at him should be the least and most anybody should do -- don't take physical actions and don't just blithely go by without honking at him, with exception of a very very very sane and logical driver very very carefully getting in front of him and ever so slightly slowing down slowly so the AP car doesn't hit them and gets the AP car to stop, then lets the angry drivers behind start honking wildly, which would ultimately wake up the Tesla driver, but this is VERY dangerous, because if the freeway speeds up while you have stopped the sleeper, or was already moving swiftly, you probably just killed a few people, so don't do it).
I think the law states that other drivers must warn him of a danger, by honking at him. Of course, the danger in this case is himself.
Someday, this will be a primary use case for Autopilot. Not today. I look forward to sleeping in my car using various autonomous features. That's not today!
Right now: If you feel sleepy, pull over. If you wake up to honking and yelling, look out the window, and see that you are in a moving vehicle, look down, and see the Tesla T, and realize autopilot stopped you from having an accident, then politely look horrified (it helps with the self righteous assholes who don't know how to just honk and yell), put on your right blinker, and safely move over to a safe space to get way way way off the road safely and get a break. Get out and walk around enough to get your blood flowing. Get safe enough to reenter the freeway, get to the next exit, and then find a safe place to park.
If anybody ever sees me sleeping in my Tesla in the above situation, please honk and yell at me. Don't go crazy -- just wake me the hell up. I wouldn't want to be asleep at the wheel today.