My recollection was they couldn't reconcile what the radar and the cameras were saying and decided the radar was usually wrong. Either way it does make you feel like a guinea pig while they try to work things out. I'm also puzzled how NCAP rate things so highly - they must count features and nbot how well executed they are.IIRC the presentation that explained why they were removing the radar was more about working on one software stack rather than two. They knew that the radar lost track of other cars at times, so rather than spend development time on both radar and vision, they decided to concentrate on vision alone. I don't think they said removing radar alone would fix the phantom braking, just remove some of the causes and allow them to spend more time getting vision to work.