I think that the necessity of intervening drivers atm indicates that we aren't at that point yet, even if that point is far from perfection, and also that the reason any self-driving cars are on the road is because of the fairly loose but significant requirements from regulation. We might be at that point in otherwise very dangerous situations, like if I was very tired or drunk, but otherwise I don't know that I'd have so much faith in software engineers to completely control my car.