Hi everyone, first post here on TMC, but I'm on TOO and Reddit under the same username. I agree with everyone in this thread about AP having some notable regressions in the past 2 months. (I'm on HW 2.5) It's almost as if all the computing power that went to deep rain got taken away from basic lane centering and highway speed curve prediction. I noticed a drastic reduction in AP's "attentiveness" around 2019.40.1 that has yet to return; I override AP about once per 20mi now on the interstate for things such as forgetting to turn until it's scary, hunting the double width right lane after a merging on-ramp lane, and just refusing to stay in the center of the lane.
AP used to be the feature I would show off the most to passengers in my car and now I rarely use it with passengers because I don't know what it's going to do wrong anymore, I just know it has a much higher chance of being embarrassing than it was on 2019.36 and previous builds. Understeering the same curve multiple times which results in soft bouncing off the outside lane line or sling-shotting off the outside lane line are not features you want to demonstrate to others.
My car will occasionally get about a 6" left to right and 4-5 second sinusoidal sway, it is very predictable and repeats 10+ cycles of slowing bouncing from left of center to right of center and back again in the lane. It's like the lane is just a touch too wide for either camera to care until the car drifts into it's territory and then it'll redirect the wheel to steer the car back across the no-man's land in the center of the lane until it encroaches on the other side's territory.
On my commute home today I had a new experience. I don't know if this is a PSA for general autopilot use or if it is part of the recent lane centering regressions. It was raining and I was passing a 1-ton dually with a gooseneck trailer that was kicking up quite a bit of road spray. When I was about even with the front cab of the truck AutoPilot decided to dive bomb right towards the truck next to me. The right pull on the wheel was as aggressive as a modern AP lane change or re-centering into the double width merging lane pull that we've all experienced.
This was the first time that I'm fairly certain AP would have hit the car next to me if I didn't prevent it from doing so. My best guess is that the spray from the truck confused the ultrasonic sensors and the camera's lost track of the truck and the center lane line (it was clearly painted BTW). After the car lost track of the center line and the truck due to the spray I think it continued to see the outside lines of each lane and started to interpret the two lane highway as a single double width lane. I think the violent pull towards the truck was the same centering behavior as a merge lane, just with a 70mph pickup 3ft into its chosen path. I saved the TeslaCam clip but of course forgot to properly pause the CAM before ejecting it when I got home so my saved clips are the dreaded 594 byte nothing files. Has anyone else had this happen?