Tesla is not a self-driving car
Tesla's "self-driving" car uses a vigilant-human approach:
"Tesla notes that Autopilot is meant only to assist drivers, not to replace them. And its onscreen warnings and owner's manual emphasize that drivers should remain vigilant and keep their hands on or near the wheel at all times." --nytimes.com
Google OTOH, has monitored drivers (employees) while they were driving "vigilant-human approach automobiles" and found the drivers were often profoundly distracted and even napping. They realized that the vigilant-human approach was scary because most humans were lulled into totally trusting the car after hundreds of miles without incident. As a result, Google is approaching it from the perspective that the car must be reliably self-driving, with no steering, no brake pedals and no accelerator pedals. In-other-words, until their cars can drive WITHOUT ANY driver assistance, they are not good enough.
I figure that in the long run, the only approach that will survive the market and the regulators will be Google's approach to self-driving cars. Tesla will either figure this out or lose the market.