While some companies have rushed autonomous driving systems to market; by 2012, Google semi-autonomous system was advanced enough that its Lexus-based test vehicles could run autonomously on freeways like the Tesla Model S and X and had to regain control of the car on the other parts of the journey. While the testers praised the autonomous system on the highway, including a fan of sports cars who saw previously autonomous driving as a synonym of boredom, the semi-autonomous system was definitely not safe.