Anyone have any experience with Comma.ai? It's an add-on AP like software/hardware kit (essentially plugs into the OBD2 port and has a cellphone-like device that sits under your rearview mirror. It's only full featured on a handful of cars so far, but it's EXTREMELY impressive. My friend has it in his Rav4 Hybrid, and they are getting ahead of the curve on AP1/2 quickly. Dead center lane tracking, inputs to the wheel just correct but do not disengage the steering (my favorite feature of Volvo's implementation also) and they now just enabled the driver facing camera that results in no nags unless your attention shifts for an extended period. Updates are also coming out 2 weeks or so with significant enhancements.