Yes, but part of it.
Definition of artificial intelligence (AI) is still controversial. A commonsense says: AI has the abilities to,
- learn quickly
- represent knowledge
- communicate in natural language
- integrate all these skills towards common goals
Someone would like to see that AI has some consciousness.
For self-driving system (SDS), we only need it to have the abilities to,
Learn: learn quickly and understand; mimicking is, well, a kind of learning without understanding, which is not enough;
Sense: see and hear the environment
Act: make decision based on the knowledge learned and the environment sensed; take action accordingly.
That is to say, we only need a subset of AI, which makes self-driving sound easy.
To sense is easy: Waymo, Mobileye, Mercedes, Audi and many others can do it. To act is already tough to self-driving system but we humans can do it: gathering the information of surroundings, we know exactly when to turn, brake or accelerate. The toughest part for SDS is to learn, which is quite easy to humans, only 40-hour driving lessons should be enough.
To sum up, for self-driving, the challenging tasks are to learn and to act, or with the familiar terms used in autonomous-car community, training and driving policy.