As I don't have enough confidence on EAP yet on the city streets, I have felt relatively ok with using TACC in the morning commute. That changed this morning as the car was about to happily drive into the back of a bus this morning. I have attached a somewhat crummy picture AFTER I did an emergency stop. also no CAR 'crash' warning - which has worked fine before the latest FW update. You can see in the picture the 'bus' and the screen NOT showing the vehicle in front. First time in a month of driving that this has happened, but I have noticed since the last update over the weekend, that the car drives up close on silver cars and this morning totally missed the bus. As the bus drove away the display flickered on/off with the bus pulling away.