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AP2 report - logic needs a "drivers" attention

Discussion in 'Model S: Driving Dynamics' started by timvracer, Apr 1, 2017.

  1. timvracer

    timvracer Member

    Joined:
    Mar 5, 2017
    Messages:
    223
    Location:
    Los Gatos, CA
    I tested AP2 Autosteer on the freeways of L.A. this weekend, as well as on I-5 up to the Bay Area. My biggest complaint is that the logic behind the steering is very poor, and almost as if written by someone who doesn't understand driving.

    I can see from the display that the computer has a firm understanding of the lane boundaries, including in curves -- however, the path that the car chooses to take within those boundaries doesn't make sense. When AS sees a curve coming, it should plan a "normal" path through the curve, turning in for the upcoming curve before the actual curvature begins, error on drifting inside the corner (apex), and then return to center upon the exit of the corner.

    I can tell that AS can see the curve, but it chooses to not make any adjustment to the steering until the car begins drifting towards the outside lane line in the corner. So for example, on a left hand gentle corner, AS will drift the car nearly to the lane boundary on the right (I scared a few drivers next to me, and had to grab the wheel).

    I hope Tesla gets some professional drivers to advise their algorithms. Like I said, it can clearly see the lanes, it is simply choosing to take an awkward path through the corners.

    With regards to sharper corners, forget it -- failed every time.

    However, on I-5 to the Bay Area, once I got out of the L.A. congestion, was fabulous with autosteer at 80mph. The car has going straight down pat!!
     
  2. calisnow

    calisnow Active Member

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    2,860
    Location:
    Los Angeles
    @timvracer - is this your first Tesla? If you had an AP1 from the beginning you would have experienced a similar phenomena - which got better and better over time during the last year. Based on how Tesla kept improving the "logic" and smoothness of AP1 I expect the same rate or even better of improvement to AP2.
     
    • Like x 2
  3. avesraggiana

    avesraggiana Member

    Joined:
    Jan 25, 2017
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    283
    Location:
    Chula Vista CA
    That’s reassuring to know. New owner over here, having acquired my Model S just a fortnight ago. I too noticed the curious jerky-jerky motions of AP2 in even the gentlest of curves. I’m glad to hear that based on AP1’s performance, this tendency will get smoothed out over time.
     
  4. TexLaw

    TexLaw Member

    Joined:
    Jan 29, 2017
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    347
    Location:
    Bellaire, TX
    I echo OP's sentiments and also look forward to further refinements. Right now, the way AP2 handles some curves is a bit too much for the nerves (especially at night, which is no surprise).
     
  5. S4WRXTTCS

    S4WRXTTCS Active Member

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    May 3, 2015
    Messages:
    1,992
    Location:
    Snohomish, WA
    For the record AP1 handles sweeping corners on the freeway rather ridiculously as well.

    A normal human would treat it as a single long corner without adjusting the steering wheel throughout the corner.

    Where AP on the other hand divides it up and is constantly doing steering corrections throughout it. It's like it's only looking 20-30ft ahead.
     
  6. mblakele

    mblakele radial cross member

    Joined:
    Mar 7, 2016
    Messages:
    564
    Location:
    SF Bay Area
    I imagine Tesla's priorities go something like:

    1. Make it safe
    2. Make it safe and smooth
    3. Make it safe, smooth, and smart
    The last goal includes bonus features like switching to faster-moving lanes, or controlling front and rear space to help reduce congestion.
     
  7. Uncle Paul

    Uncle Paul Member

    Joined:
    Nov 1, 2013
    Messages:
    767
    Location:
    Canyon Lake,CA
    Current autosteer tends to keep the vehicle in the center of the lane. Human drivers tend to apex into curves and swing out a little wider on the exit to make the curve smoother.

    My autosteer is just a little wobbly, but truly effective in getting you from point to point safely.
     
  8. avesraggiana

    avesraggiana Member

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    Jan 25, 2017
    Messages:
    283
    Location:
    Chula Vista CA
    I discovered today that there are some curving stretches of the 5 running through downtown San Diego that AP2 just couldn’t handle. My waiting until my car hit the divider dots before correcting must have alarmed the drivers abeam me, and must have been a mildly worrying sight for the drivers behind me.
     

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