SAE automated vehicle classifications:
Level 0: Automated system has no vehicle control, but may issue warnings.
Level 1: Driver must be ready to take control at any time. Automated system may include features such as Adaptive Cruise Control (ACC), Parking Assistance with automated steering, and Lane Keeping Assistance (LKA) Type II in any combination.
Level 2: The driver is obliged to detect objects and events and respond if the automated system fails to respond properly. The automated system executes accelerating, braking, and steering. The automated system can deactivate immediately upon takeover by the driver.
Level 3: Within known, limited environments (such as freeways), the driver can safely turn their attention away from driving tasks.
Level 4: The automated system can control the vehicle in all but a few environments such as severe weather. The driver must enable the automated system only when it is safe to do so. When enabled, driver attention is not required.
Level 5: Other than setting the destination and starting the system, no human intervention is required. The automatic system can drive to any location where it is legal to drive.
Thats the SAE framework. Keep in mind that a TESLA is a Level 2, NOT a level 3 (they in fact have been in a bit of trouble in various ways for blurring that 2-3 line) we are currently a ways off Level 5, which is the one that I think worries most of you.
The way that the sensor systems and such that I have seen work, I dont know about off-road ability. Its just not much of a focus that I have seen. At least not at any rate of speed.
As far as motorsports, I think it will develop a separate catagory, as seen with http://roborace.com/ Which will prove to be a very interesting technical challenge.
The way I see it, you will probably eventually see drivers championships for a spec vehicle (you already see some motion towards it) and the constructors/innovators championship may tend towards autonomous in the future. If you think in F1 like terms, we can already build a car that can kill a driver within its normal operational envelope. They are limiting some things in F1 to keep lateral forces in the 5G range, so an autonomous series would take the human limitation factor out of the equation. (just as how people think that Manned dogfighting of aircraft wont last forever, because without the man in it, it can do MUCH harsher maneuvers)
I just dont see levels 2-4 being applicable. who would want to? I mean, yeah, in limited test cases (roborace is in L2-L4 testing right now), but thats slated to go away once the testing has been proven.
https://www.youtube.com/embed/2oBnWsVhJms
They have a video series starting with this one https://www.youtube.com/watch?v=xUOJVWV5Ej0