The 17.26.76 update in July was the inflection point as far as I can tell. That's when it changed from for every one "my car is homicidal" post there were ten replies telling them to go to the SC to ten replies of "my car is also homicidal."
This was also the "silky smooth" update with the new control algorithm. I suspect that this was Lattner's work and that 17.17.4 was essentially the same algorithm as used in all preceding AP2 releases since Dec 16 and done by Anderson. I think the control algorithm may be fine, but the image processing is bad because it identifies too many things as lane lines. For instance, there are many times the IC shows tar lines as lane lines. It didn't do that nearly as often before.
This was also the "silky smooth" update with the new control algorithm. I suspect that this was Lattner's work and that 17.17.4 was essentially the same algorithm as used in all preceding AP2 releases since Dec 16 and done by Anderson. I think the control algorithm may be fine, but the image processing is bad because it identifies too many things as lane lines. For instance, there are many times the IC shows tar lines as lane lines. It didn't do that nearly as often before.