It seems that with each year, more automakers are moving forward to developing fully self-driving cars. Most cars only have Level 2 autonomy, which means it can only switch lanes and brake on its own. With Level 3 autonomy, the car can operate completely on its own in emergency situations.

The most advanced levels of autonomy are Level 4 and 5, which require little to no actual input from the driver. There’s still not a fully autonomous car on the market, though Tesla claims that it will produce the first. For now, here are four cars you can buy that can almost pilot themselves, according to U.S. News.

The 2020 Volvo XC60

The Volvo XC60 uses the automaker’s Pilot Assist program, first introduced in 2015. Using a radar and the XC60’s camera system, Pilot Assist detects cars in front of the XC60 and maintains its speed accordingly. It also utilizes lane-centering technology, but it still requires the driver to keep their hands on the steering wheel.

Pilot Assist can operate at up to 80 miles per hour, and it’s standard on all models besides the base trim. Several advanced safety features are also included, like traffic sign recognition, a pedestrian camera, and driver drowsiness warning. Models without Pilot Assist still have lane-keeping assistance and collision mitigation technology. The Volvo XC60 also has an excellent safety rating from the IIHS.

The 2020 Nissan Rogue

For shoppers who want something more affordable, the Nissan Rogue is one of the cheapest cars with some autonomous technology. ProPilot Assist is available for the Rogue SV and SL trims, which has the same functions as the Pilot Assist program. The automaker also promises that a ProPilot upgrade will be available soon, possibly with an even higher level of autonomy.

The Nissan Rogue with ProPilot can also handle turns on its own, as long as it’s not a sudden maneuver. At only $25,000, the base trim is loaded with many useful features, plus a luxurious and stylish cabin. Smartphone integration is standard, as well as a full suite of advanced driver’s aids. Its only downside is its solitary four-cylinder engine option, which has a hard time accelerating.

The 2020 Tesla Model S electric car

Every Model S comes programmed with AutoPilot, though the car itself retails for almost $80,000. If you want to upgrade to Full Self-Driving Capability, that will cost another $7,000. Contrary to its name, the human driver still has to be present at the wheel to make emergency decisions. However, the car can change lanes and park completely on its own, as well as follow a navigation-guided highway route.

With the standard AutoPilot features, the Tesla Model S can center itself within driving lanes automatically and maintain a set speed. The program also comes with automatic emergency braking, forward collision warning, and blind-spot monitors. It’s also loaded with plenty of convenience tech like heated seats and wireless charging.

The 2020 Mercedes-Benz S Class

The S-Class is the most expensive car on this list, retailing at over $102,000 with the autonomous driving features. It’s equipped with the Mercedes-Benz Car-to-X system, which essentially allows cars to “communicate” with each other via radio signals. The system collects data from other vehicles, then alerts the driver of upcoming traffic jams or accidents.

The Mercedes-Benz S-Class also has several safety features you won’t find in many other cars. The optional Pre-Safe program can detect a collision in the rear, so it automatically tightens seat belts. Other available safety features include night vision, automatic steering, automatic lane-changing, and a surround-view camera. Automatic parking is included on all trims of the Mercedes-Benz S Class.