Today I found an article on one of automotive sites in Japan reviewing Nissan ProPilot X, which will be relased in 2020. The car drove itself from regular two lane divided street to three lane Shuto Expressway route B, then merge to two lane Shuto Expressway route C2. The route seems to be approximately 10km (6.3 miles). This car had Mr. Iijima (the famous engineer appeared on YouTube video) in the driver seat and the reporter in the passenger seat.
自動運転はできていた! 日産“プロパイロットX”
Google Translate: Google Translate
The car was equipped with 12 cameras, 12 ultrasonic sensors, 9 radars, and 6 LIDARs with High Definition maps. The engineer overtook the driving only once during the trip. The car was able to turn left, right, merge to highway, follow signals and enter available toll gate at the highway entrance.
自動運転はできていた! 日産“プロパイロットX”
Google Translate: Google Translate
The car was equipped with 12 cameras, 12 ultrasonic sensors, 9 radars, and 6 LIDARs with High Definition maps. The engineer overtook the driving only once during the trip. The car was able to turn left, right, merge to highway, follow signals and enter available toll gate at the highway entrance.