Hitting the brakes or pushing the AP stalk back (towards the front of the car) cancels both. Just turning the wheel cancels only Autosteer and leaves TACC (cruise control) on. You should hear the three bongs when Autosteer changes state, though I can tune that out at times. I keep a pretty close eye out for the blue icons to confirm what's on.
It's not so much lack of awareness as the fact that the act of turning the wheel psychologically translates to "I've taken over", but you haven't.
Also, I don't like their practice of 3 bongs down to indicate "NoA is off" because they aren't consistent in what they consider the end state. I've had that happen when I cancel while on NoA and it means "no aids are in effect now", but I've also had the 3 bongs down when it was still in control of some of the operation. If they are going to do the 3 bongs down, then they need to follow it up with rising bongs indicating the new state. They don't always do that.
There are several ways to trigger a change in automation level, and not all use the same system to indicate the final state. For example:
- On AP and entering an area where NoA is possible - 3 bongs up - unambiguous
- On AP and engage NoA manually - 3 bongs up - unambiguous
- On AP and cancel with stalk or brake - 2 bongs down - matches new state
- On NoA and cancel with stalk or brake - 3 bongs down - matches new state
- On NoA and turn the wheel - 3 bongs down, but none up - is it canceled?
- On NoA and enter an area with no NoA support - 3 bongs down and I think 2 up - that matches new AP state
Those are from memory, but I'd have to repeat them to be sure.
In Short, I think it makes sense that they should always use 1 bong for TAC, 2 for AP, and 3 for NoA
Bongs going up indicate new state unambiguously
Bongs going down should be followed by the new number of bongs going up to match the state you ended up in.
Bongs going down with no rising tones should always mean "no automation".
It would be even better if they had another sound that explicitly indicated "no automation".