Nissan's EV Leaf-Based autonomous driverless car is now being tested Japanese public roads and highways. It features various modes of driving and Nissan seems to be focusing on testing the Intelligent Driving System features pertinent to dricing autonomously in heavy traffic situations on highways. This stop-go rate of driving for long periods of time is the most stressful one for drivers and having the car take over is a good place to start, specially since it can safely correct itself in various situations.
Nissan seems to be on the ball with their rollout plans, autonomous driving in traffic by 2016, the ability to change lanes by 2018 and the smarts to navigate city roads and intersection without human input by 2020.
Source: CTV News