Recently my Model 3 with Autopilot+FSD+DriveOnNav has been having a serious issue with carpool lanes. It agressively tries to get into the carpool lane, even when there's a double yellow line, and simply won't take no for an answer: if I cancel the lane change it immediately tries again, and the only way to break out of the loop is to disable Autopilot altogether. Software is 2019.20.4.1 b612f97.
Video (taken by my passenger) of what this looks like, on 405S near Mulholland:
The warning text switches rapidly between 'Apply slight turning force to steering wheel' (which I do) and 'Trying to complete maneuver' (which doesn't succeed because it won't go over the double yellow line).
More disturbingly, on an earlier trip on 405N near Wilshire, once the car got into the carpool lane, it immediately tried to merge left AGAIN into the concrete median. (Autopilot signaled the lane change, which I immediately canceled; I didn't wait to find out if it would actually start merging.) I'll try to see if this happens again (and have my passenger take video) next time I'm on that route, and see if it actually tries to steer into the median.
The proper behavior for these scenarios, I would imagine, would be for the car to NOT signal/initiate the lane change until it is at least in visual range of carpool lane entrypoint (dashed white line). It should also recognize that the carpool lane is optional, not mandatory, for following a given route, and if the driver indicates (especially multiple times) not to switch into the carpool lane, it should probably stop trying for a while. For that matter, I wish there were an "Automatic" HOV setting that would use the seat sensors to determine the car's occupancy, and use the carpool lane only if there are enough people in the car. (E.g. for those whose carpool stickers have expired, or who don't want to put them on the car.)
Video (taken by my passenger) of what this looks like, on 405S near Mulholland:
The warning text switches rapidly between 'Apply slight turning force to steering wheel' (which I do) and 'Trying to complete maneuver' (which doesn't succeed because it won't go over the double yellow line).
More disturbingly, on an earlier trip on 405N near Wilshire, once the car got into the carpool lane, it immediately tried to merge left AGAIN into the concrete median. (Autopilot signaled the lane change, which I immediately canceled; I didn't wait to find out if it would actually start merging.) I'll try to see if this happens again (and have my passenger take video) next time I'm on that route, and see if it actually tries to steer into the median.
The proper behavior for these scenarios, I would imagine, would be for the car to NOT signal/initiate the lane change until it is at least in visual range of carpool lane entrypoint (dashed white line). It should also recognize that the carpool lane is optional, not mandatory, for following a given route, and if the driver indicates (especially multiple times) not to switch into the carpool lane, it should probably stop trying for a while. For that matter, I wish there were an "Automatic" HOV setting that would use the seat sensors to determine the car's occupancy, and use the carpool lane only if there are enough people in the car. (E.g. for those whose carpool stickers have expired, or who don't want to put them on the car.)
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