Yes, but part of it. Definition of artificial intelligence (AI) is still controversial.  A commonsense says: AI has the abilities to,

  1. learn quickly
  2. reason
  3. represent knowledge
  4. plan
  5. sense
  6. act
  7. communicate in natural language
  8. 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 quickly
  • sense
  • act

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.