Autopilot To Exit Lane Is Rough

[Therealm80]

When I'm in full autopilot and it wants to exit the freeway it jerks the car to the right so much that it has to overcorrect and back to the left why does it do this? Shouldn't it smoothly move me into the exit Lane?

 

[Chisale]

That's there just to let passengers know that a pee break is at hand and they should wake up.

 

[Mash]

The algorithm of exiting is still not mature. It's not really correcting as much as it tries to be in a new lane and some lanes actually marked that rough. Just people don't drive according to markings and smooth it out.