As far as I can tell there is no way to resolve this that will be effective. Google spoke about this problem publicly and why they directly targeted level 4.
Train drivers are the closest thing and they have a lot of equipment that forces them to stay alert.
Personally I think that autopilot should only take over when the driver is unwell or that it thinks there will be a crash.
Even when driving full time drivers get distracted. So when the car is doing the driving humans will get bored and won't be able to respond in time.
Autopilot however is always on and never distracted but doesn't work in some cases.
Train drivers are the closest thing and they have a lot of equipment that forces them to stay alert.
Personally I think that autopilot should only take over when the driver is unwell or that it thinks there will be a crash.
Even when driving full time drivers get distracted. So when the car is doing the driving humans will get bored and won't be able to respond in time.
Autopilot however is always on and never distracted but doesn't work in some cases.