Well, it may seem obvious to most, but the driver should exit AP mode when passing an emergency vehicle on highway shoulder (e.g., cop w/pulled over car). As I was coming up to a cop w/lights-on on the shoulder, I exerted pressure on the steering wheel to nudge the car more into the left of the lane. I thought I did okay, but he cop didn't think so and pulled me over where we had a discussion about my driving. He seemed impressed that the car could drive itself and let me off with a warning - yay for me! In order to give back to the universe, I wanted to let anyone else that does the same trick to try to move left-a-bit to just skip that and jerk the wheel or hit the brake and really move way over. Cheers.