Volvo takes the position for their 2017 that they cannot
demand that the driver take over. The car can
ask, but must be prepared to pull over and stop if the driver doesn't push the "Manual Drive" button.
Here's the first of 100 self-driving cars Volvo will put in customer hands in 2017.[1] This shows close-ups of all the sensors - high radar and camera behind the windscreen, low LIDAR and camera in the nose, and side and down-looking cameras on the door mirrors. No high-mounted LIDAR, though. These vehicles are intended for self-driving in all weather conditions in Gothenburg, Sweden.
[1] https://www.youtube.com/watch?v=nwcSeRE-XEY