I believe it does.
Well sort of, it warns the driver that it does not understand what is going on buzzes and shakes the wheel, instructing the driver to take over. Very similar to a commercial plane's autopilot. I believe it will not allow it to be engaged until it is "happy" it can track the surroundings.
In a similar way to a plane's autopilot the driver should be aware of what is going on around them at all times and they should be prepared to take over at any time.
Would you be OK with the Pilot and Co-Pilot of a plane both coming back into the cabin for a meal* at the same time, or would you expect them to be monitoring the situation at all times?
*esp if fish is on the menu.