The Chinese start-up announced Monday that it was piloting a feature known as City NGP, which stands for navigation guided pilot.
City NGP is being trialed with some users of the premium version of it P5 sedan in the southern Chinese city of Guangzhou, where the company is headquartered, it said.
City NGP was first announced last year, when Xpeng released Xpilot 3.5, the latest version of its advanced driver-assistance system, or ADAS.
Charles Zhang, vice president of Xpeng, told CNBC on Monday that the pilot of City NGP brings the company "one step closer to full autonomy."
Xpeng said that those trialing City NGP will need to download it via an update.