I've had a couple of Tesla's now with autopilot and have had the beta FSD from the beginning. This behavior happens with all of them going back years and years, and I don't know why a software fix has not been implemented, but hopefully others have experienced it and not just me. I made some crude Microsoft Paint drawings too. This occurs on highway/freeways with multiple lanes when driving in the far right lane going past an onramp. A human driver can see the onramp and just stays straight down the middle of the lane, and FSD/autopilot should do the same as the camera can see the onramp and the lines merging back together down the road. That logical path is marked with the blue line in the drawing below and results in no odd directional changes:
Inextricably, this is NOT what Tesla's software has the car do. It veers hard right the moment the onramp merges in to center the car and then veers back left (which can cause cars in the lane to the left to think you are drunk, steering into them, etc). It also makes passengers wonder why the car is veering back and forth for no reason. Why, Tesla, why??? The car can clearly see the lane goes back to its original width in 100-200 meters at most. Maintain the distance to the dotted line to the left and continue the course instead of doing this:
Inextricably, this is NOT what Tesla's software has the car do. It veers hard right the moment the onramp merges in to center the car and then veers back left (which can cause cars in the lane to the left to think you are drunk, steering into them, etc). It also makes passengers wonder why the car is veering back and forth for no reason. Why, Tesla, why??? The car can clearly see the lane goes back to its original width in 100-200 meters at most. Maintain the distance to the dotted line to the left and continue the course instead of doing this: