I hope that this is not too off topic.
On day four or five of ownership, the car ahead of me got into the left turn lane and slowed down. I knew all was well. But I, foolishly, had AP on while driving this residential street. I got the loud double beep, braking and a sharp evasive tug on my steering wheel. My Model 3 darted maybe one foot to the right. OMFG
It’s hard to put that feeling into words, but the evasive maneuver was so sudden, so foreign and so frightening that I didn’t use AP for a couple of days. Nobody has ever wrested control of my car from me. I think that adoption of lane departure avoidance by drivers will be slow. You need a little better NN refinement to make it more specific.