Most who claim they would remain attentive are not aware that they are making false claims, and this likely includes a lot of HN visitors. The better the cars get at remaining on autopilot, the more complacent drivers will become. A really good autopilot is training its users into trusting it to handle everything. If your average commute results in autopilot practically never kicking in, your brain will naturally - regardless of your intent - find something else to occupy your attention. Reading a book in your lap, checking the weather, grooming yourself in the mirror, or even just spacing out and daydreaming.
Frankly I'm of the opinion that self-driving cars are something that will happen in 50+ years. When cities are built with "roads" that are actually tracks; tracks that are designed to handle only these cars and nothing else. I imagine we will not own such cars; they'll be more like subway/metro public transit systems, but with individual pods that hold a small number of people and with hundreds/thousands of small stations to embark/disembark from.
These vehicles should not be allowed until there is no manual takeover. If the vehicle cannot operate at all times on autopilot, it should not be on the road.