Well with previous versions of AP2, I used to disengage autopilot when the tyres started flicking up sand and grit after well and truly crossing the white line. The funny thing was that the car would then realize it was far too close to the concrete barrier and then decide to yank the steering wheel to the left - AFTER AP was disengaged - pfffft.
I'm sure there were many times that if my wing mirror could look down, it would see the top of the concrete barrier
