habanero69 is correct. I have 11,000 miles on my X and have not upgraded to 8.0 yet (car is in the shop since last week getting a defective high-power harness and cable replaced). I have driven at least half of the 11,000 miles on AP and used lane-change extensively. It has always sensed a vehicle in the new lane and refused to change until it was clear in front and behind. I hope that doesn't change in 8.0. I'll report back in a couple of days after I get my car back.