I've probably logged about 1000 miles using the various FSD v12 versions to date (started with 12.2.3, 12.3.2.1, 12.3.4, currently on 12.3.6). Local errands around town almost daily, along with several road trips consisting of 2-2.5 hours each way (115-140 miles each way). Here's what I've noticed where FSD comes up short repeatedly:
- Still lane change happy. (FYI - I purposefully don't use the MLC feature to see how it'll really perform without this enabled). I end up having to cancel lane changes quite often as FSDS seemingly changes lanes for no good reason. It also has a tendency to lane change into lanes that are quite obviously ending - via the big white arrows on the pavement - that repeat - indicating the lane is ending - yet FSDS will signal and move into these lanes - and here's the thing - those big white arrows indicating that the lane is ending - show up on the screen ahead of FSDS attempting the lane change - only to immediately have to move back into the original lane. In a few instances, it moved into the lane that was ending - then couldn't move back into the original lane due to heavy traffic. So I typically just cancel the lane changes when this occurs. This happens regardless of whether it's a right hand or left hand lane that is ending. Seems like the cameras certainly see that the lane is ending given it picks up the arrows on the pavement - but FSDS doesn't seem to "see" this data?
- On several occasions when approaching an off-ramp - within one mile of the ramp - FSDS will move into the passing lane to attempt to go around the slower lead vehicle - but oftentimes traffic is heavy approaching the exit ramp - which is exactly why the lead vehicle is slowing down in the first place - and I've had to repeatedly intervene because FSDS cannot manage the merge back into the exit lane - had I not intervened - it would have simply missed the exit - as I've had to literally dive into the exit lane under very tight confines to avoid missing the exit - something FSDS has no hope of doing on it's own even when set to Assertive mode. Probably had this happen about ten times over the past 45 days regarding exit lanes off major highways. Granted - this is technically still using the 11.4.9 stack from what I understand - but that doesn't really matter to me.
- Near our development, we have a double left hand turn lane off of a major two lane each direction highway, that turns onto the road that eventually leads to the entrance to our development. FSDS always, even after 25 times, chooses the wrong left hand turn lane - it needs to choose the leftmost turn lane - because the other lane - after executing the left hand turn - quickly proceeds through another light - then turns into a right hand only turn lane that starts separating out via solid lines on the pavement. FSDS will always choose the wrong turn lane, then attempts to move into the proper left lane across a solid white line (illegal in other words) shortly after the light. Even if I intervene and move the vehicle into the leftmost turn lane, and re-enable FSDS, it will execute the left hand turn, then signal into the right lane because traffic going straight always backs up further than the right lane since most folks - humans - know to stay in the left lane if they are going straight. FSDS apparently cannot read the map correctly - and repeatedly makes this same mistake. In other words, FSDS cannot infer that it needs to be in the leftmost turn lane, and stay in the left lane once executing the turn - because the right lane ends. Where's all of this supposedly AI inference that Tesla is supposedly 10x better than everyone else? It can't even infer basic lane maneuvers well IME, like this one.
- FSDS in other double right hand turn lanes - will correctly be in the leftmost right hand turn lane - but when it executes the right hand turn - it immediately moves into the right lane - which again is an exit lane onto a major highway (I95). FSDS really seems to struggle with choosing the proper lane when multiple turn lanes are available, and then staying in the correct lane once the turn has been executed. Perhaps this is because in my area (Delaware state), it doesn't have the data needed to make these maneuvers properly when compared to Cali where I see a lot of "FSD autonomy is solved" posts. Nope, not even close in my area of the US.
- FSDS on the way back home from the Poconos (about 140 miles each way) was fine for the most part except for at least six interventions due to the failure to change lanes when I told it to do so - and there was no reason not to. There was moderate to heavy traffic at certain points coupled with a fair number of aggressive drivers and FSDS always ends up in the left lane, but when I tell it to move out of the left lane because another driver is bearing down behind us and tailgating - and I mean less than a car length at 80mph at times - and I signal - FSDS just sits there trying to figure out what to do. It will change lanes just fine when no other vehicles are around - big deal - but when you actually have good reason to change lanes and do it now - FSD fails almost every time. It’s like the close proximity of vehicles in front and behind confuses it thoroughly. It’s VERY tentative - and at a time when it needs to move swiftly - twice when I didn’t intervene the car behind us started passing us by quickly switching into the right lane and FSD then started to finally execute the lane change - it caught itself - but this is clearly a problem. What the system needs to really do is not just watch the lead car - it needs to watch cars bearing down from behind and move out of the passing lane promptly. I also had to intervene because it was way too tentative getting into the proper lane before exiting the highway - and it waits until the last minute to try to move into the correct exit lane - then struggles to actually get into that lane - I intervened and shot into a gap - FSD would have had no hope of doing what I did and would have missed the exit.
- Overall the problem I've observed is that FSDS doesn’t know it’s own limitations when making routing decisions. It routinely tries to stay in the left lanes until shortly before an upcoming exit - leaving less than one mile before the exit - in moderate to heavy high speed traffic - when it struggles to make the lane changes needed ahead of the exit. I have no problem with it being slow - but it shouldn’t be trying to move into the exit lane with less than 0.5 miles distance before the exit in moderate to heavy traffic. On the way up to the Poconos recently - FSDS missed one exit and I had to intervene and dive into the exit lane last minute. This issue seems more prevalent at night vs day time hours. The system doesn’t know its own limitations basically. Granted, it's certainly not self-aware, but it often seems as if the right hand doesn't know what the left hand is doing type thing. Don't attempt to pass a slower moving lead vehicle by moving into the left lane with under one mile to go before an exit lane is required - with moderate to heavy traffic.
- Construction areas and inclement weather still prove to be problematic. I had to intervene while up in the Poconos when FSDS was trying to navigate onto I476N via a circular on-ramp under construction because it almost hit a construction barrier that wasn't well marked - pretty sure it would have actually impacted the barrier had I not intervened actually - scared the crap out of my wife. FSDS also limits speed fairly strictly during moderate rain - only 5mph over the posted limit at most - and under heavier rain - it just keeps ratcheting down the max speed to the point where human drivers are constantly passing us. I hit the go pedal and force it to speed up - but having to keep my foot on the go pedal the entire time kinda defeats the purpose of FSDS in a way. Hopefully this gets better over time with more data - but so far - I've not really observed that FSD v12 is any better in inclement weather than FSD 11.4.9 to date. It also repeatedly flashes up "FSD may be degraded" in a big red box on the screen - along with a nice loud chime - which gets annoying after just a few minutes - let alone over 100+ miles.
- FSDS has issues periodically falsely reading road signs as speed limit signs. We routinely take Rt 301 down to the D.C., area for weekend getaway trips. There are 301N/301S road signs - which FSDS routinely reads as "30mph" signs - and it abruptly changes the speed to 30mph (right on the screen). The pattern I've noticed is that MD state sometimes has double signs - containing both the Rt number and the speed limit adjacent to one another - this is when this problem occurs. If it's only the Rt sign - no problem - but having both white signs right next to one another - problem.
- In fairness we've also had several zero intervention drives over the past 45 days - except for parking and entering/exiting our driveway at home of course. FSD v12 is definitely superior to 11.4.9
I've got more feedback, but need to stop here for now.
