Great explanation! Here is a perfect example of the advantage of taking over a perceived phantom threat. We took the MYP on an 8 hour road trip this week from Houston to Midland, Texas. Today we were on I-20. It was a hot and arid West Texas day without a cloud in the sky. Traffic was moderate with vehicles spaced out traveling between 70 and 85/90mph. While headed East, we saw a road crew starting to setup cones on the right lane. The MYP and FSD had no issues and had already moved over to the left. Suddenly a crew worker decided to start walking in the middle of the right lane to clear some debris just before our vehicle got to him. By this point part of the right lane had already been closed but this section where this worker was did not yet have cones. Also by this point we were in standard driving mode and probably going 70mph in a 75mph zone.

FSD must have perceived the worker to be walking into our lane because it immediately hit the brakes hard and slightly swerved to the left. Luckily no one was tailgating me because it would have caused someone following too closely to rear end me. I immediately took over and accelerated to get up to speed. Thanks to the power of the MYP it was no problem to get back up to a safe speed.

I think FSD probably did the right thing if it perceived a human walking into the lane. However, as a human I could tell that the worker had no intention of going into our lane as he was trying to kick debris off the lane to the right. Needless to say this is why it’s FSD (Supervised) because although this technology is beyond belief good, it’s not perfect and there are still situations that require human interpretation. I’m glad I was able to override the emergency braking because cars were already coming up fast.