Tesla has begun to roll out a new update to its Full Self-Driving Beta software, bringing the version number to 10.7. While the update has a few changes to it, the main one appears to be improvements related to the phantom braking issue some drivers have been dealing with.

According to one Reddit user, the list of improvements is a lengthy one with two of the changes relating to “reduced false slowdowns,” something that people have been calling out as a potential safety issue for some time now.

The full list of changes in this version 10.7 release includes:

  • Improved object attributes network to reduce false cut-in slowdowns by 50% and lane assignment error by 19%.
  • Improved photon-to-control vehicle response latency by 20% on average.
  • Expanded use of regenerative braking in Autopilot down to O mph for smoother stops and improved energy efficiency.
  • Improved VRU (pedestrians, bicyclists, motorcycles, animals) lateral velocity error by 4.9% by adding more auto-labeled and simulated training examples to the dataset.
  • Reduced false slowdowns for crossing objects by improved velocity estimates for objects at the end of visibility.
  • Reduced false slowdowns by adding geometric checks to cross-validate lane assignment of objects.
  • Improved speed profile for unprotected left turns when visibility is low.
    Added more natural behavior to bias over bike lanes during right turns.
  • Improved comfort when yielding to jaywalkers by better modeling of stopping region with soft and hard deadlines.
  • Improved smoothness for merge control with better modeling of merge point and ghost objects positioned at the edge of visibility.
  • Improved overall comfort by enforcing stricter lateral jerk bounds in trajectory optimizer
  • Improved short deadline lane changes through richer trajectory modeling.
  • Improved integration between lead vehicle overtake and lane change gap selection.
  • Updated trajectory line visualization.

The update appears to be on its way out to Tesla cars that are part of the FSD beta right now, although it isn’t immediately clear whether it is being made to more drivers than the previous versions. Only those with safety scores of 98 or above are able to install the beta at all, of course.

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