Following are the stages of vehicle automation.  Each level includes all the functions of the previous levels.  See 
self-driving car.
Level 0
No real automation; however, all cars have built-in safety features such as anti-lock brakes (see 
ABS), as well as warnings for open doors and unbuckled seat belts.  See 
TPM.
Level 1
In 2021, most new cars have some or all of these driver-assist features: 
navigation system, 
adaptive cruise control, 
collision avoidance system, 
lane departure system, 
blind spot monitoring and 
adaptive headlights.
Level 2
User-initiated self-driving; however, drivers must have their hands on the wheel, at least periodically.  In 2014, Tesla's Autopilot was first to reach this level in a production vehicle.  In 2021, several car models reached this stage.
Level 3
Autonomous driving but driver must be able to take control.  In 2021, a few car models are approaching this stage.
Level 4
Complete autonomous driving when conditions are appropriate.
Level 5
Fully automated.  May or may not have steering wheel.
Level 5 Became a Goal
Around the mid-2000s, the idea of fully driverless cars in the future was getting attention as the cover of the September 2016 issue of PC Magazine highlights.  (Image courtesy of PCMag.com.)