Arming cruise control will lightly take over your wheel, letting it lane keep and steer the car at light turns. You can take control back at any point by using the wheel yourself, and at steeper turns like taking a left at an intersection, it asks you to take over the steering until the turn is completed.
Setting the speed is basically autopilot. I could probably drive from los angeles to vegas without touching the wheel or pedals, as long as you get on the highway first.
Its really bad at stopping at stop signs, it slows down to 10mph and continues. Red light detection needs to be better, but it will stop a little ahead of the line at a stop light 90% of the time.
Lane changes are a breeze, just not completely autonomous. Flick the stalk whichever direction and it changes lanes 2 seconds after. It'll even use the blind spot cameras and abort a lane change if need be. Blind spot cameras on the prius dont detect if theres a car just ahead of you that you could turn into, so its not Commas fault, but Teslas Enhanced Autopilot is better at that.
I, love, my Comma. It's turned my mildly safety-featured car into a relaxing future-proof personnel carrier. Keep your eyes on the road or It'll yell at you. It's not level 5 by a long shot, but because it's open source, it just keeps getting better and better over time. The minute AGI comes out, my car is Level 5 ready.