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green Profile picture
@greentheonly
Dec 21, 2021 • 7 tweets • 4 min read • Read on X
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Got a pretty worrying #TeslaCrashFootage in the mail.

This is on AP (NoA, really), 75 mph into a truck, no braking, no warnings of any kind.

The firmware is 2021.4.18.2, accident in June 2021.

radar-equipped car (but hw2.5 of course)
the truck was seen by both the radar and also could be clearly observed by the narrow camera from quite a distance away (pictures are spaced 1 second apart)
In fact it was when I reviewed the narrow cam video footage I saw there's a guy with a flashlight behind the truck (I hope they were not hurt and ran away as fast as they could after seeing Tesla not braking)

streamable.com/7ixg7l since twitter likely compressed him out
This footage is pretty interesting to apply current NNs to and I hope I can talk @rice_fry into cooperating on this front to see hw3 detections from various releases
(I know it's tedious, but it's such an interesting showcase to demonstrate whatever progress there is)
Interesting that this same car also got into another accident in 2019 and the footage is still there. Not as extreme as the final one of course.
Aftermath picture

also link to main camera footage from streamable that should be less compressed: streamable.com/3vbhmo
Interesting addition I saw on reddit.

Here's a somewhat similar unlit situation filmed (very irresponsibly if you ask me) in California.

You can count the percentage of drivers that avoided the situation yourself (ADAS use unknown obviously).

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More from @greentheonly

green Profile picture
Apr 7
Got a bit of free time over the weekend and noticed that HW4 size of NNs in v13 ballooned from 2.3G total in v12.x to 7.5G on just node B in v13 (and 2.3g on node A).
(for comparison hw3 is 1.2G node A and 3.1 node B now on v12.6)

So I decided to look some more into it.
Just the same as on the hw3, node B now contains all the "secret" E2E bits that have some extra encryption applied to "protect" it.

Node A has 189 NNs and node B only has 110 NNs and of those 61 are shared between A and B. (so there goes your redundancy)

Interesting to see that there are 135 NNs that are shared between HW3 and HW4 in current releases.
It's also interesting that all those "factory driverless stuff" have a dedicated E2E set of (9 sub)networks which makes me think they might not be entirely as environment-agnostic as some people want to believe. (there are other E2E bits for highway, city streets and destination (for when you approach the destination), all these actually exist in two forms, "normal" and "low speed" (except factory where everything is low speed anyway).
Read 5 tweets
green Profile picture
Jun 17, 2023
Impressions after nearly 600 miles on 11.4.3 with Elon mode (could not get a non-Tesla car to try in time).
It went much better than the prior experiment obviously.
Many contributing factors. I was not as late so I did not mind as much (still ended up 5 minutes late solely
because of FSD foolishness).
So I was more tolerant towards the constant flow of cars passing me on the right and merging in front of me.
It also helped that I did not need to watch for the dreaded nag.
Overall I spent a bunch of time thinking about it and came up with this:
If the car did not need my attention - I'd just plan for late arrival as much as possible and don't care of many of the current very annoying deficiencies.
They are only this annoying because I actually have to watch the car and so I notice them, as they greatly diverge from my
Read 11 tweets
green Profile picture
Jun 13, 2023
Paging all hw4 radar deniers, I guess.

What is the first thing you do when you get a HW4 car? You take it apart of course ImageImageImageImage
ImageImageImage
Like really-really take it apart.
Because FCC pictures are... low res ;)
And old too. ImageImageImageImage
Read 6 tweets
green Profile picture
Mar 30, 2023
So I decided to look into how Tesla does alternate routes (I know, late) fully expecting to see they just get a few alternatives from Google and that's it and... nope, there's nothing like it!
Instead they grab a route from google (if online nvigation enabled), and then feed that into tesla maps service (in the cloud). And that maps service returns possible alternatives (deduced by unknwon means). But that's not all!
A lot more interesting is that in addition to that they also query that service for "what are the parking lot outline at my location" and "hey, for this route I have, what else do I need to know".
Read 10 tweets
green Profile picture
Mar 26, 2023
Now that HW4 is widely available I got some firmware samples and discovered that:
The shipping version is internally called 2-SOC and has two possible camera layouts. The current one or the expanded one with added surround view cams (front bumper and two more)
The cameras run at 2880x1876 and run at( up to?) 45fps.
The main and backup cameras differs from the rest of them (and main and backup are a bit different too). vendor TBD.

new GNSS is Teseo V based.

Radar is confirmed ethernet or 192.168.90.110 internal IP.
But a lot more interesting is the 3-SOC version that seems to be up and coming? The camera layouts for that remain same though some internal deserializing routing differs.
There was a rumor that with the GPU in place heat output increased and HW4 was curtailed, so may be this is
Read 5 tweets
green Profile picture
Feb 15, 2023
I am sure you are all eager to know more about HW4, so I am going to show you the refreshed car computer from a Model X. Just don't tell anybody you saw it, because it's really a secret still.
This unit made appearance at the EPC about a month ago, but the picture was hidden.
Looks like Tesla started to build cars with it but does not deliver them yet, I imagine the plan is to announce on March 1st that all cars off the line are already having it.
To start with sorta bad news, The form-factor is totally different, so definitely no retrofits on this one.
top/left is new unit, bottom - current plaid unit)
Read 19 tweets

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