For me, the shift in perception isn't going to happen before the technological leap.
The best driver aid systems I've seen are still just well-executed implementations of lane keep/change assist and radar cruise control- technologies that have been available in luxury cars for ~15 years. None of this stuff is actually new technology. It took decades to make existing driver aid technologies reliable and cheap enough to make them available to the average new car buyer. I have no reason to believe it will get easier from here.
I also have no reason to believe that the legal dilemmas behind autonomous driving features will go away. One of two things must happen- in fatal accidents caused by a car operating autonomously:
1. The driver (occupant?) will be liable. OR,
2. The manufacturer will be liable.
Option (1) is unprecedented, morally reprehensible, and would likely be overturned when some manufacturer eventually screws up on a Ford Pinto scale. Option (2) means that autonomous driving features will forever be hampered by the "keep your hands on the wheel!" warning bells that we already deal with today.