In other words, can it cause dangerous conditions through mis routing or will the signalling system itself prevent anything dangerous from happening?
..and the hazard is mitigated by the driver being aware of where their train can and should go, and not "taking" an incorrect route.
There is a difference between something being 'safety critical', 'fail-safe', or 'dangerous'. There has to be a consideration for what impact the decisions that ARS or any automated system is taking.
Humans tend to anticipate situations or take action based on previous experience. When something odd happens, things tend to go wrong. There also as to be a consideration to what signalling the Driver is receiving. If your being routed using 'Approach Control' this starts to increase the risk. If routes offered, lead to unusual movements then you also start to increase risk. You also need to consider that Humans aren't perfect. The computer might know what is or isn't permitted but the person up the pointy end might not. We tend to accept what the signalling is giving us because we have a level of trust in the system. If the computer makes an error, the Human might just accept it.
Over the past few days; I've had some very odd decisions made by the Signaller/Signalling/ARS/Whomever. This has led to my workload increasing and my concentration levels and route knowledge being pushed to the limit.
Anecdotally, when I might get some odd movements or strange routing, the Signaller tends to call you up and talk you through what is about to happen. Other times you just get sent a weird way or just given what some would call something !"!"$£"$ stupid.