Hmm. I was driving a rental Hyundai that has auto-lane steering. I constantly wondered if it would follow the wrong path at choice decision opportunities (exits and forks) or side-swipe another vehicle trying to follow a lane. It's quite aggressive in basically overriding the driver's input without significant force and not notifying audibly when it disables itself (except for a visual indicator, a small icon in the cluster turns from green to white, but it requires "polling" behavior of constantly looking down).