(17.11.10) A first for me, was in slow moving traffic, clear lane markings, and a car ahead had broken down and was halfway off the road, half still in the lane. The AP clearly identified this and moved as far as it could to the center of the road within lane to avoid the obstruction, then moved back to the center of the lane. Lane markings were clearly identified in the IC all the time, and it didn't switch to blue follow the car in front mode. It behaved so naturally that my partner in the passenger seat thought i was driving and had no idea the AP was doing it. Really very cool. The car is just so much fun to own.