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I hope this includes improved recognition software. It is not common, but on more than one occasion my M3 "sees" the wrong color light.

It is a tough problem. In one case It saw the light for the cross street, but with enough of the color showing out the side to trigger a false reading
 
I can understand the computer being able to recognize stop signs, but what I don't get is who will make the decision to accelerate from the stop sign? If the human has to intervene, then it isn't FSD, is it?
Well technically you’re not getting “FSD” you’re getting features of FSD.
You won’t be getting FSD anytime soon.
 
What I worry about is if the sensors will detect a yellow or red light soon enough. Based on the visualization in the dash, by the time I actually see the yellow or red on the dash screen it doesn't leave much room left for a smooth stop. I am hoping the sensors actually detect the lights much sooner and can react, and that the visualization is just not designed to display sensor data accurately.