Not everyone is open to the idea of self-driving cars, and Toyota wants to ensure that those people can still enjoy most of the benefits of self-driving cars while still maintaining control of their vehicle. To do this, the company is developing a “guardian angel” system that will automatically assist the driver, or even take control of the vehicle completely, in order to avoid danger. Implementing self-driving technology slowly like this is probably the best way to make driver more comfortable with the idea.