Wait, FSD changed lanes and it was halfway onto the shoulder before you "regained control"????
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I've been using FSD since v10 and Autopilot before that and never once has my car made it even over the line without me stopping it. Never once have I needed to "regain control" - because I understand that I must
always be in control.
For range anxiety just follow Tesla's advice and switch to percentage instead of range. The range indicator is a guess based on a moderately informed list of criteria. Just like a stock picks and nobody expects them to be accurate.
Love how you interpret my "Thankfully we were already in the right lane and so moved partly onto the shoulder before control was regained." into "FSD changed lanes and it was halfway onto the shoulder"
The torque the driver provides was enough to pull the car partly onto the shoulder before steering the car back into its lane.
Had the driver been driving without hands on the wheel, the move towards the shoulder would not have happened. Which actually seems like a flaw in the "driver attention monitoring" system since had the left hand been providing the torque the car would have pulled towards or into the left lane. How far the car moved towards the other lane or shoulder depends on the mood of FSD that day and whether it is hugging the centre line or the right line of the lane. Lately I've been pleased FSD has been traveling to the right side of the lane but I didn't notice if that is still true for 12.3.6. If it was, that would explain how quickly the car pulled onto the shoulder.
Remember the car was simultaneously slowing dramatically (since the system aborting FSD also engaged the regenerative braking.) You'll have to forgive the driver for not responding fast enough to meet your definition of "in control" when faced with a car pulling towards the shoulder while dramatically losing speed while a loud alarm and red flashing warning is happening. Steering straight came first, then returning to speed of traffic flow while moving fully back into the lane, and finally listening to me read the message to him from the screen.
If your definition of control is always both hands on the wheel, looking straight ahead and foot fully on the go-pedal to react to any sudden drop of speed, then you'll have to tell me how to avoid the problem I faced for the first versions of FSD where my two hands on the wheel and eyes watching the road ahead kept triggering the "apply torque" warning (and me missing it until the audio warning because I wasn't staring at the screen.) It was this forum that taught me to apply the torque with only one hand, a level of 'supervision' or 'control' I'm not comfortable with but am required to do because tesla was too cheap to put a sensor in the steering wheel.
As for the recommendation of only using percentage for range, that is what we do and have done from the first year of ownership. Which introduces a new problem, leaving for a long drive with only 80 or 90% battery no longer offers me the potential of 400 - 450km of range because the range the battery offers is now roughly 450km. And that's theoretical range, not the 80% efficiency that my Teslafi account shows the car gets on summer highway road trips.
The tesla is supposed to be taking weather, road speeds, topography AND the state of the battery into its calculations for how much I'll have at the end of the trip. Yet somehow, when I take the route it sets out for me, a route that has been taken a dozen times before, the car is incapable of accurately estimating the range I'll have left when I arrive at my destination. And since the only way to charge the car once I'm there is L1, the car is incapable of calculating accurately if I could even make it to an L2 or L3 charger should my L1 not work. I actually know it can in warm weather because Teslafi has tracked that part of the trip for me multiple times and it averages 15% of my charge and at the cottage the car still has 25% battery, which is not the 40% it told me it would have but enough that I know I shouldn't be stranded should my charging cable fail. But without Teslafi, I would be clueless as to if the car was going to leave me stranded at the side of the road or not it the cable wasn't working. And I can do these calculations for myself with this drive, but put me into a different "charging desert" I would have super range anxiety based on my experience up until now.