A mate of mine works in R&D for Honda. He was telling me about the lane guidance system in the CRV. It works by monitoring the white lines on the road and if is scenes that you have crossed them without making any deliberate steering input, it will take over steering control for a second or two whilst beeping at you to wake you up. The electric steering knows whether you you have steered the car by twirling the wheel, or if the car has veered on its own.
When they were out on the M4 testing, they changed the short time that the car takes over, to indefinite. The car was an automatic and with the adaptive cruise control set, it would totally drive itself for mile after mile, albeit sticking to one lane.