A human will, for the forseeable future, be potentially far greater at this kind of improvisational disaster-avoidance than any computer when dealing with limited data in situations where no course of action is clearly favorable.
That is a completely bogus argument. Machines don't have to match humans in every ridiculous driving scenario. Self-driving cars only have to be +1 better than the average human driver to take over. Google's self-driving cars are better than 90% of drivers on the road and that's good enough.
The biggest obstacle to driverless cars isn't the technology, it's the arrogance of human beings with illusory superiority.