Human beings controlling cars are extremely dangerous. Drunk drivers, racing, going through red lights and stops, speeding, not paying attention, etc. No need for autopilot for the streets to be dangerous for pedestrians. Autopilot keeps the car in line, which is already way safer than most 100% human-controlled accidents.
And again, the driver is responsible to keep their eyes on the road, even when using cruise-control or any sort of driving assistance.