...In the case of some stalled vehicle in your lane.....
Tesla has fine-tuned its radar software after the Florida fatal autopilot accident and guessed that the system would likely be able to deal with that scenario.
However, I believe the current radar technology and its software have not solved the problem of stationary vehicles including those that partially intruding into your lane.
That disclaimer about stationary vehicles is still in the owner's manual and has not been taken off just yet.
Of course Tesla is still working on this or otherwise how can its driverless program will deal with this kind of scenarios?
...Doesn't at least AEB kick-in in the last minute? But depending upon the speed it might not avoid the collision fully?
You seem to misunderstood the function of Tesla AEB because you see other companies' ads that show clearly their cars automatically stop to avoid a collision.
Those ads are meant for low city speed, not highway high speed.
On the other hand, Tesla owners' manual clearly states that its AEB designed is not to avoid a collision. It is designed to allow a collision to happen. But with a reduced speed and reduced force of collision.
...What about current AP2? do we still have the same limitation?...
Yes, AP2 still has the same problem. My guess is it's a little better than AP1 for now. I have driven almost 4,000 miles for the past 3 months and I had to manual brake for stationary vehicles about 3 times.
...Does anybody know how exactly solve this issue?...
1) Cameras:
AP1 has only 1 camera that is monochrome so it had a problem of differentiating a Florida accident bright background and the white trailer.
Some suggest that if you introduce full spectrum color to your camera, that may solve the Florida accident contrast confusion problem.
Some suggest more cameras so if one angle misses the obstacle, another one can pick that up: Thus, AP2 has tri-focal cameras.
2) Tesla Vision:
Image recognition software will have to be improved so your car can avoid various obstacles including traffic cones...
3) Radar:
Radar can pick up all obstacles but its resolution is so poor so it may see a very small harmless concave soda cap that magnifies its signal as a gigantic obstacle. That has been a problem since in WW 2 when aluminized mylar (plastic) Chaff were recognized by radar as countless air planes flying in the sky.
Tesla thinks it can use software to deal with that problem: Ignore a stationary soda cap and not a stationary vehicle.
4) Lidar:
Pro-Lidar says Radar resolution is so poor so you need to supplement it with Lidar. Its resolution is so high that it can see a bicyclist arm signal as well.
5) Where are we?
I love AP2 because something is better than nothing but it is still at its infancy so it still has lots of work to do.
Google/Waymo has demonstrated that it has not gotten into any serious/fatal accidents or traffic violations so far so I would trust its safety more than Tesla's.
My problem with it are:
1) private beta: only its employees can use its beta program while Tesla allow you to use theirs for a fee.
2) no independent verification of accident avoidance testings: It has not released a test that could deal with a Florida fatal Autopilot accident.
3) Launch date is still around 2021.
In summary, it's great to be enthusiastic, but it is prudent to realize current limitations and progress status.