Update 2022.40.5 - Release Notes

- Enabled FSD Beta on highway. This unifies the vision and planning stack on and off-highway and replaces the legacy highway stack, which is over four years old. The legacy highway stack still relies on several single-camera and single-frame networks, and was setup to handle simple lane-specific maneuvers. FSD Beta's multi-camera video networks and next-gen planner, that allows for more complex agent interactions with less reliance on lanes, make way for adding more intelligent behaviors, smoother control and better decision making.

- Improved Occupancy Network's recall for close by obstacles and precision in severe weather conditions with 4x increase in transformer spatial resolution, 20% increase in image featurizer capacity, improved side camera calibration, and 260k more video training clips (real-world and simulation).

- Improved merging behavior by leveraging lane geometry and lane bounds, association with coarse map information and better gap selection algorithms, allowing for a smoother and safer experience.

- Added highway behavior to offset away from blocked lanes and generic obstacles like road debris while also adding a smooth handoff between in-lane offsetting and lane changing.

- Improved speed-based lane change decisions to better avoid slowing down traffic in fast lanes, and interfere less with navigation.

- Reduced sensitivity for speed-based lane changes in CHILL mode.

- Improved lane changes to allow higher jerk maneuvers if required to stay on-route or to move away from lane blockages.

- Improved smoothness at highway lane splits by being less strict about centering between lane lines and allowing lower jerk maneuvers, where safe to do so.

- Reduced latency of trajectory optimization by 20% on average, without sacrificing behavior, by leveraging numerical tricks for more efficient computations.

Press the "Video Record" button on the top bar UI to share your feedback. When pressed, your vehicle's external cameras will share a short VIN-associated Autopilot Snapshot with the Tesla engineering team to help make improvements to FSD. You will not be able to view the clip.

Full Self-Driving is in early limited access Beta and must be used with additional caution. It may do the wrong thing at the worst time, so you must always keep your hands on the wheel and pay extra attention to the road. Do not become complacent. When Full Self-Driving is enabled your vehicle will make lane changes off highway, select forks to follow your navigation route, navigate around other vehicles and objects, and make left and right turns. Use Full Self-Driving in limited Beta only if you will pay constant attention to the road, and be prepared to act immediately, especially around blind corners, crossing intersections, and in narrow driving situations.

Your vehicle is running on Tesla Vision! Note that Tesla Vision also includes some temporary limitations, follow distance is limited to 2-7 and Autopilot top speed is 85 mph.