I had the opportunity to drive a current generation BMW 7 series with their driver assist features recently and came away more than impressed with how close it was to Tesla AutoPilot. It lane kept flawlessly on a freeway driving in the middle lane for many kilometres before disengaging. The HUD was very helpful in working out what the system was doing. Driver detection was by way of a very, very soft touch on the steering wheel, no torque required - two fingers at 5 o'clock front and back of steering wheel. Nagging was: 5-10 seconds - yellow symbol on HUD asking for hands on wheel. 30 seconds - symbol goes red. 60 seconds - red + beeping. 2 minutes - car is deliberately weaved slightly within the lane to alert you to put hands on wheel. Beyond that - didn't try. (Timings are from memory). It was better when following another car. It had a tendency to exit dive. There was no audible warning when it lost the lines, just a very subtle change on the HUD which was easy to miss. All-in-all, it was great to see progress being made in this space.