Full Self-Driving Beta v10.10
- Smoother fork maneuvers and turn-lane selection using high fidelity trajectory primitives.
- Disabled rolling-stop functionality in all FSD Profiles. This behavior used to allow the vehicle to roll through all-way-stop intersections, but only when several conditions were met, including: vehicle speed less than 5.6 mph, no relevant objects/pedestrians/bicyclists detected, sufficient visibility and all entering roads at the intersection have speed limits below 30mph.
- Improved generalized static object network by 4% using improved ground truth trajectories.
- Improved smoothness when stopping for crossing objects at intersections by modeling soft and hard constraints to better represent urgency of the slowdown.
- Enabled lane changing into an oncoming lane to maneuver around static obstacles, when safe to do so.
- Improved smoothness for merge handling by enforcing more consistency with previous cycle’s speed control decisions.
- Improved handling of flashing red light traffic controls by adding more caution for events where crossing vehicles may not stop.
- Improved right of way understanding at intersections with better modeling of intersection extents.
