The goal is to build a vehicle to the SAE Level 4 standard of automation. This would give the car the ability to handle all aspects of driving, although limited to certain approved areas or regions. A car could be restricted to only the island of Manhattan, or to take certain approved routes outside of Manhattan to get to the airport or Yankee Stadium.
2021 is five years away. While Ford has multiple vehicles that have smart features such as cruise control, automatic breaking, lane departure, etc. They do not yet have a production vehicle with any sort of autonomous driving. Five years isn't a long time for such an ambitious goal of removing the steering wheel and pedals. One of the biggest hurdles will certainly be a regulatory one.