There is a solution for this - if the driver shows any type of pattern of not using the feature safely, disable the feature. Autopilot and comparable functionality from other vehicles should be considered privileges that can be revoked.
Systems that are semi autonomous where there's some expectation of intervention work well in those scenarios, keep the car in lane markers on the highway, etc. Make sure the users hands are on the wheel but for fully autonomous even if your hands are on the wheel, how does it know your paying attention?
This is exactly what the Tesla does. It periodically "checks" that you are there by prompting you to hold the steering wheel (requiring a firm grip, not just hands on the wheel). If you don't, the car slows to a stop and disables autopilot for the remainder of the drive.
