The DS 7 Crossback and BMW 5 Series, for example, were judged to leave the driver primarily in control in all scenarios.
However, an Audi A6, Ford Focus, Mercedes C-Class, Volvo V60 and Nissan Leaf also reviewed were said to offer 'a balance between driver and system assistance'.
Tesla, on the other hand, was deemed too effective by the test panel.
In the report, safety experts said the American firm's AutoPilot system 'risks an over reliance on the assistance system with the vehicle being primarily in control'.
Women (53 per cent) dread the introduction of driverless vehicles more than men (42 per cent), while it's better received among 25 to 34-year-olds (49 per cent), compared to just 18 per cent of those aged 55 or over.