“The humans brain is currently better at understanding edge cases, dealing with incredibly odd situations, and predicting other human’s behavior than AI” is more of a fact than a feeling.
Self driving AI doesn’t notice the driver passing them is nodding off or screaming while giving it the finger. It doesn’t pick up the subtle clues that another driver is drunk or distracted. It can’t see that a load in a pickup truck it’s following isn’t properly secured and predict it falling off.
Self driving AI currently struggles with fairly common situations. It’s not ready to be in charge of something as deadly as a semi-truck.