AP2, I've seen the blue car for a while. In fact, I just had my first blue car on the interstate (which wasn't good). Lane lines were clear, car just stopped following them and locked into follow the leader for car in front. It was unnerving at high speeds.
Blue car = radar/visual lock on car not lane lines (generally happens briefly in intersections or other areas were lane lines fails and AP was engaged already). It is also called "follow the leader" because your car will use the lead car as a guide instead of other things (like lane markers). AP1 and 2 use lots of information to determine travel path (lane markers, botts dots, curbs, road edge, etc.). AP2 should start using HD maps to really avoid the common issues in path planning.