Thread by @greentheonly

Some random notes from a roadtrip.

I sure wish both @RouteBetter and in-@Tesla Nav had additional option for "prefer highway" which is the current default, but sticking to highways only at times means your travel time in a Tesla is much longer.

Here's an example:

This is what ABRP offers:

I-95/I-16 and we either need to crawl along the way or make a stop in Savannah (alt route #2).

At the same Time the totally inflexible in-car nav offers this (alt route #1 in abrp output):

Now in ideal world both of them would actually offer this for leg #1:

It's just under 10 minutes slower than the I95/I16 but because there's no slow down, it's actually faster than all other routes. Sure, it's not on interstates, but it saves ~40 miles and like 40+ minutes

The road itself is actually mostly pretty decent 4-lane "Golden Isles parkway" with generous 65mph speed limits outside towns (of which there are few)

Here's a 20x sped up video of the trip, not too bad (first ~8 minutes):

This also shows importance of AP on all roads, not just some premapped interstates. There is life outside of interstates no matter what people touting GM Supercruise would like you to believe. (majority of the video above was on AP or NoA)

Now also random snapshots:
here's a sudden lane split. The steering motion was a bit unexpected and I can swear it engaged the turn signal, but cannot see it in canbus data. Or perhaps it was some other split I remember.

Had an interesting "zig-zag lane-change" too (NoA/ULC)

(remember blue background on steering wheel icon is when AP is in control of steering)

Also saw some totally unexplainable phantom brake (not too severe):

Would it make a fun trip if AP did not remind you you should be paying attention 100% of time or face the consequences? Probably not.

The video does not give it justice, but there was quite a swift attempt at jumping left here:

BTW also saw the dreaded "attempting lane change into barrier" though the car did not really attempt to change, just turned on the blinker and acted all confused.

BTW I guess I can add some more interesting examples.

Here's a gate. a very thin one, you can really see through it. But the car actually knows there's something so it cannot pass until the gate opens.

But it's actually is not aware of gates, once the gates start moving, radar return of a moving object makes the car think "aha, radar tells me there's a car, but I cannot see it, I'll err on the side of caution and assume it's just invisible".

Now here's a different kind of gate. The driving space code actually thinks it can drive around it (which is not wrong) and it's only other parts of the stack that need to ensure it does not happen.

And finally, here's a RangeRover in its natural state.

Interesting bit is not that, but how path planner is happy to assume "the human drove me onto this 'gore area' so I'm happy to stay here".
Again, leaving it to other parts of the code to fix if needed.