My experience with FSD 11.* and 12.* is it doesn't fully understand trains yet. It is particularly bad with RR crossings that don't have gates, which is the case with many rural and small town ones around here. I've been reporting improperly handled RR Crossing / train incidents. I think part of the issue is it doesn't really understand how they are unique and different than a generic cross street. Rules meant for stoplights and flashing red lights are being applied to them, and that only partially works. A flashing red light is stop, then proceed when it is your turn. With a train's flashing red lights it is wait until the train passes, but FSD 11 would try to nose its way in to get it's turn before the train has fully passed. I haven't had a chance to see if FSD 12.3.* still does that.
I suspect Tesla will have to have some of their test drivers, in rural midwest, stake out trains and time their arrivals at RR crossings to get enough video data to make training models from. The railroad lines that roughly follow along US-30 and US-34 in Iowa are some of the heaviest used in the country. When more coal was being shipped, they would have trains every 20 minutes in both directions 24 hours a day, 7 days a week, except during track maintenance periods. They also are heavily used for shipping grain to the Mississippi grain terminals. I refer to the empty coal car trains heading back to the mines as coal can returns.
Railroad Crossings: Rural RR crossings are often made so one can maintain speed for the road type over them. So, yes 55 MPH is often able to be safely driven over them on paved rural roads. In fact, they will tell you if the crossing is bumpy, but not if it is smooth.
On roads that parallel railroad tracks, FSD will sometimes react to the railroad signal lights. Railroad signal lights are very bright as they need to be easily seen over a mile away.
Speed limit signs that are placed well out into the ditch are often ignored.
Rural route number signs, which are square, in Minnesota and Wisconsin are sometimes read as speed limit signs.
Don't get me started on the bad handling of default rural road and highway speed limits. US-69 in northern Iowa somehow has a 60 MPH speed limit. 55 MPH is the rural 2 lane highway maximum speed limit state wide. No Iowa 2 lane roads have a speed faster than 55 MPH by state law. Turns out the next speed limit sign is over in Minnesota where it is marked 60 MPH. I often run into sections of road that are marked 25, 30, 25, 40, 45, 50 which is the next speed the road is marked at when it enters a town. Paved rural roads default to the state wide rural road speed limit.
FSD seams to be doing very well in city areas, but not in rural and rural town areas.
Fog and speed: The rural Midwest drivers are not quite as bad as commuters in the SF Bay area with going too fast, but it is close.
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