nlroth Last I heard, they're testing internally now. When they're ready for people to test, they'll push out a new release. As usual, the release will first be available in the alpha channel, then move to beta, then stable unless there are issues uncovered by alpha/beta testers.
New releases are announced here inAnnouncements. If a new release is pushed out, you can first check if it includes Android Auto then switch to alpha or beta then.
The setting to change which release channel your phone pays attention to is here: Settings > System > System update > Release channel