https://www.cnet.com/roadshow/news/watch-toyotas-self-driving-car-demonstrate-its-two-unique-modes/

The video from Toyota Research Institute shows its autonomous technology inside a previous-generation Lexus LS. The vehicle features two steering wheels and sets of pedals, so that a safety driver can still take control, even while a test driver takes the vehicle through its paces.

Toyota's autonomous platform has two distinct modes -- Chauffeur and Guardian. Chauffeur mode is for those who want to be driven; the vehicle takes control, whether it's to alleviate traffic-jam boredom or to act as a hired driver. In Guardian mode, control is still left to the human driver, but the vehicle will monitor the environment and step in to avoid a collision, if necessary.