Don't really like either - sorry.
I prefer full possession of faculties over senses, but that's not the problem.
If you anticipate, you're trying to guess something before it happens, so what are you doing when pre-anticipating (or estimating) something?
Also, in this case, the only real consequences are accidents, so I prefer to use the more accurate word of 'accidents'.
Maybe something along the lines of
You should only drive when you're in full possession of your faculties, otherwise accidents may be harder to avoid.
(still not 100% happy with that, but I haven't had a cup of coffee yet ...)
Student or Learner