Lexus is aiming to have an "Autopilot" car by 2020

 

According to Car and Driver, Lexus is expecting to have a self-driving car to the market within the next five years.  From caranddriver.com:  " In Japan, Toyota is testing a Lexus GS450h with all of those sensors tucked away. Millimeter-wave radar and lidar scanners are not only in the grille but appear inside additional cutouts in the lower front fascia, on either side of the back bumper, and an enlarged roof spoiler. A visual camera sits in front of the rearview mirror."

 

The self-driving component is geared towards highways, rather than city driving (although that would seem to be the next logical step).  A button located on the steering wheel is where the driver employs the auto-pilot.