View attachment 488322
Here’s one example where hugging the left lane line would be the wrong thing to do more than 50% of the time. If you are the car at the bottom of the image, your lane is about to widen and then split. The majority of cars here need to go straight, which takes you to downtown Honolulu. The minority will veer off to the left. If the car were to favor the left line, all cars would end up going left, which would be the wrong way for most. Autopilot used to always get this wrong, but over time, it’s learned to not track that left lane line and continue straight. I know this is somewhat of an edge case, but I think it explains why autosteer can’t just ignore lane widening and hug the left line 100% of the time.