Car gets stuck in a cul-de-sac and can't get out? Sure.
Impending collision in 2 seconds? Bad idea.
I think the mistake people are making is thinking the vehicle is just going to be like 'welp, death imminent in 5 seconds, hairy pink skinned passenger, here ya go! do somefink abooot it!'.
In reality the vehicle is going to be assessing potential risk and let the passenger know when they need to be more attentive, even to the point of simply refusing to operate without the passenger signaling their attentiveness in some manner.
I think the issue with self driving cars that require a driver to be ready to step in at a moments notice, is that we, as a population are not trained to remain relaxed and aware at all times, nor is it reasonable to really expect most people to be able to do this.
Meanwhile, computers in cars today cannot even reliably translate human throttle inputs into throttle actuations (see: Toyota).