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Strange new auto pilot warning

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Normally when using autopilot and it doesn't detect your hands you get one of two warnings: the blue pulsing banner, or the small black/red warning at the bottom of the screen.

Whats interesting today is we have received this new warning three times at the same exact spot on a road. In all 3 cases the car starts beeping as well.

It was when we approached a flashing yellow traffic signal (normal operation only during the weekdays/sat). There is also a standard pedestrian sign on the side of the road, like you would find at most intersection. We've seen it only 3 times, and all 3 times were today as we traveled through this one intersection. In all 3 cases there was no steering warning, and one of the times I had turned on autopilot maybe 5-7 seconds prior.

Below is a picture of the warning.

Does this look familiar to anyone?

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