Not sure if this is already available on your system.
I would like to see control of lane changing left with the driver, but with an automatic overide if a lane change manouver would endanger another car.
eg:-
As I approach a car, I decide to change lane and pass, at the same time, the lead car decides to do the same.This is going to end with a smash as I accelerate to pass and suddenly the lead car is still in front of me.If the override was available, as the first driver to select lane change hits the button it would cancel out the second drivers button press so that only one car would change lane.
This seems to me to keep control with the drivers but stops smashes.