Well, sort of without a driver. Delphi Automotive had a driver on board its highly-automated Audi S5, but only to a) satisfy local laws, and b) help out a bit less than 1% of the time as the Audi SQ5 which was chosen for its looks. Delphi added the brains.
The 9-day 3400-mile trip from San Francisco to NYC by way of Los Angeles piled up lots of data for the engineers to analyze. Some early findings: the software made the car shy of 18-wheelers (it always left LOTS of room to the side when passing), and limiting the car to never exceeding the speed limit led to a lot of very rude gestures from drivers of other cars.
One of many recent “driverless car” products, including Google’s, this one’s trip is documented in the video below, covering Day 1. There’s a video for each day of the drive HERE