Toyota has begun selling its most advanced automated driving system to date in a refreshed Lexus LS sedan and will soon expand deployment to the Mirai fuel cell vehicle, rolling out a Level 2 system that uses a lidar sensor, machine learning and over-the-air updates.

The setup, called Advanced Drive, will allow the cars to automatically change lanes and pass other vehicles in motorway driving, Toyota said in a statement.

The technology debuted this week for the Japanese domestic market in a special grade of the Lexus LS500h sedan. It will next be offered in the Mirai, when that sedan goes on sale in Japan on April 12.

Toyota has steered clear of labeling its system self-driving or autonomous. Toyota instead calls its systems automated.

“Rather than cars taking over driving from people and taking their place, drivers and cars act as partners to protect one another so that drivers can enjoy the experience of driving while deferring to automated driving at times, achieving truly safe, secure and unrestricted mobility,” said Toyota.

The system uses lidar (lasers), cameras, radar and high-precision maps to help it drive while a camera also monitors the driver to make sure the person behind the wheel is attentive and ready to take over if necessary. The system requires such confirmation in order to execute certain functions, such as lane changing. The driver must also hold the wheel while changing lanes.

For the time being, the new technology will be available only for the Japanese market, where it is tuned to Japanese maps, driving habits and regulations. But the software was designed to work globally, and Toyota is considering deployment to other markets.