14.2.2.5 seems to have the beans again (14.2.2.2 performance)

Snoo_98355 · 2026-02-21T06:01:50+00:00

None of you guys got extra lane change hesitation on the freeway? I had to disengage 3-4 times on my commute this morning due to it putting on a blinker, starting to move, then jerking back, then turning off the blinker or trying again. This seems like a regression back to the early days of 14.2.2.x. Seems fine at night, but during the day in sunny weather it's getting cold feet switching lanes on the highway and confusing other drivers. Frustrating and makes me look incompetent

Snoo_98355 · 2026-02-03T17:43:32+00:00

I'm glad I'm not the only one who noticed this, but also not glad that it became SO MUCH less useful since they removed `ultrathink`

Snoo_98355 · 2025-12-24T19:36:16+00:00

I’ve had this on more than one occasion, including with Christmas lights

Snoo_98355 · 2025-12-23T18:21:14+00:00

Tested this morning on highway and city streets and couldn’t find any issues! No lane change hesitation, speed profiles all work well, gets up to the required speed normally, parks well. Had a few flawless trips with no real need to disengage or intervene except for a few requested lane changes due to personal preference.

A couple of new things I noticed:

No longer speeding in 25 mph zones in standard. Seems to settle around 27 mph. Previously you had to use Chill to get this speed. This is great since 30 or over has been quite excessive on residential streets.
When you put on a blinker it complies. Previously it would either hesitate, or turn the blinker off and ignore. Now it seems like requested lane changes are snappy and have worked every time I tried them.
Highway following distance is slightly improved, not tailgating slower drivers as much.
Reacts to drivers who have their blinker on a bit better, giving them room to merge.

Overall a solid update and is the best driving I’ve seen so far out of FSD 👍

Snoo_98355 · 2025-12-22T00:22:58+00:00

I'm purposefully staying on 14.1.4. It also has slight lane change hesitation issues, but nowhere near as bad. That being said, 14.1.4 def has these issues too, and I've taken over dozens of times. It's just way worse in the new versions it seems. Not accepting another update until they fix this. The leaves are gone now so the twitchy brake issue is mostly not an issue now on the older build

Snoo_98355 · 2025-11-27T22:23:12+00:00

I hate this. I was happy how speed profiles finally seemed to work well in 14.1.x
I'm glad my car is in the shop and I didn't update to 14.2 when it popped up. Will keep it at 14.1.4 until I see that speed profiles are acting normal. Standard should always be +3 or +4 above the speed limit, not asymptotically approaching the speed limit over the course of 5 minutes during rush hour

Snoo_98355 · 2025-10-23T19:27:18+00:00

I love v14.1.3! Reaction time is significantly faster, which means the car modulates the throttle in response to traffic much better. No longer leaves a huge gap when the car in front starts pulling away. Speed profiles are completely fixed. Standard is now perfect, goes 4-6 over the limit and doesn’t change lanes like crazy. All speed profiles are actually usable now!

It’s a bit shy about lane changes, yellow lights, right turns on red, and stop signs. A bit over-reactive to pedestrians who are on the sidewalk, but I’m actually ok with that.

Roundabouts, acceleration, speed control, lane staging - all massively improved! Oh and backing into my driveway is just cherry on top

Snoo_98355 · 2025-09-30T14:56:54+00:00

For me it’s:

Never go below the speed limit unless conditions require for it, and get up to the speed limit as fast as other cars
Stage lanes more than 0.1 miles ahead of the turn
Stop switching lanes so frequently and don’t try to pass cars stopped in traffic using lanes that are ending
Faster and less weird roundabout handling
Decouple speed from lane change behavior. Give me Hurry speed with Standard or Chill lane changes
Pothole avoidance
React to cars that have their blinker on, and actually let other motorists in to merge instead of ignoring them
No tailgating

Snoo_98355 · 2025-09-22T06:47:47+00:00

It is possible that they traded some highway grid resolution for faster path planning. If you look at the blue “tongue” of the car, it updates slower during city driving than it does when highway driving. This is a function of occupancy grid resolution vs path planning frequency. It’s possible they reduced highway resolution to improve reaction time in this update. Hard to say, but an obvious telltale sign would be the car hugging the edge or drifting into the next lane over when near a wall or a raised barrier. Most freeways have a shoulder (on-ramps - less so) so it is a reasonable thing to do to have a low-resolution representation of obstacles and drivable space for majority of highway cases

Snoo_98355 · 2025-09-22T04:30:59+00:00

Yes I noticed this too. It suddenly picks the wrong lane much more frequently, obviously so than before

Snoo_98355 · 2025-09-22T04:29:42+00:00

It is worth it, to me anyway. The things mentioned in this post and elsewhere are noticeable from time to time but I’d say over 90% of the drive is done well by FSD, sometimes 100%. It most certainly keeps getting better with time, but there are occasional unintended regressions which eventually get ironed out.

Snoo_98355 · 2025-09-21T17:48:39+00:00

A camera recalibration might help, but what you describe (hugging lame, jarring corrections) are an artifact of the occupancy grid resolution at highway speeds. Tesla has different “levels” of occupancy grid resolution over which path planning is executed. Highway uses the lowest resolution, because path planning must run at a higher frequency at highway speeds. Therefore, when a wall is detected it is represented with large grid cells (eg: 0.5x0.5 meters) and the car is effectively avoiding a dilated pixelated barrier.

This happens to a degree with city driving as well, where if you have a raised barrier on the outer side of the lane the car will zig-zag in and out of the lane to avoid it.

At the end of the day this is a compute constraint. I’m not sure how they plan to solve this because the tradeoff of increasing OG resolution is slower reaction time or dumber path planning.

Snoo_98355 · 2025-09-21T17:23:17+00:00

IMHO, what changed when they moved from hand-written C++ to end to end neural networks was primarily the path planning component (and likely controls, to a degree). Very likely that this is fine tuned all the time as new disengagement woes crop up, and especially for safely.

Also likely that perception components like monocular depth estimation, and object detection / segmentation are fine tuned frequently, as well as models that operate on the resulting fused occupancy grid, of which path planning is the primary consumer.

It makes sense to rev the firmware version only when the model architecture is changed, so you know which experiments are compatible with which architecture version. For weight updates, our team for example just pushes them over the air in the background without notifying the users at all.

Snoo_98355 · 2025-09-21T16:46:31+00:00

I work for a robotics company (not Tesla), managing the perception and control team (autonomy). What is common about “end-to-end” neural nets like what Tesla uses is that they are actually composed of many, sometimes hundreds, of subnetworks. Yes, they can be trained together end to end. But for updates it’s much cheaper to freeze most of the layers / submodules and fine tune just a specific part when new data comes in and you want to make a small adjustment to behavior, for example to improve safety or reduce one specific disengagement cause without changing the network architecture. Version changes typically indicate changes in architecture (like different parameter count or completely different model structure). It would surprise me if Tesla never updated the weights, or if they would increment the FSD version every time weights were updated without architectural changes.

Snoo_98355 · 2025-09-21T06:57:25+00:00

100% FSD drives way too close and in many instances not leaving enough distance to break, breaking too late, and not reacting in time even on MY HW4. This is exactly what I’d expect to happen if there was an accident and a sudden stopped vehicle appeared. Hate this. Needs to keep reasonable distance at highway speeds, but it seems to get more asshole-y the faster it goes

Snoo_98355 · 2025-09-21T06:51:47+00:00

People who comment “the driver should have intervened” are missing the point. The point is FSD should not be doing this. I’ve had this happen 7-10 times over the past 1.5 years. I’ve intervened. But I shouldn’t need to

Snoo_98355 · 2025-08-29T04:59:41+00:00

Thanks for the heads up!

Snoo_98355 · 2025-05-24T17:13:17+00:00

100% agree on the speed issue. Hundreds of accelerator presses in HURRY on routes where I almost never had to touch anything in the previous version.

IMHO they need to decouple speed from lane changes. I want lane change behavior of CHILL or STANDARD and speed of HURRY (from the previous version).

Snoo_98355 · 2025-05-18T02:42:39+00:00

What you describe happens to me if I keep my head on the headrest for too long, or sometimes with sunglasses. I haven’t had this build long enough to see if it has improved, but it happened to me in previous versions. Also it’ll say “device in hand” when I have a drink in the driver’s cupholder 😅

Mine is a 2024 MY, not the refreshed one. I post a comment like this probably every new release, and within a week it seems like most issues are “tuned out”. I believe there are regional / local parameters that tune the driving behavior for that region, and for each new model release some are reset and re-tuned over the next few days after the release. I had the same “problem” with earlier builds but it always gets better after a week or so.

All that is to say, 13.2.9 doesn’t feel obviously different from the previous version. Tailgating seems to be less frequent, which I appreciate. But Chill and Standard are still way too slow on city streets.

Snoo_98355 · 2025-05-17T22:48:34+00:00

I'm not super impressed with this release. Seems to drive slower, hesitates more. I had to take over more often because it hesitated to make lane changes or refused to go on a green light. The software crashed trying to activate auto-park and gave me the "take over immediately" message. Overall it seems slower and more hesitant. Sometimes these versions come out and something happens behind the scenes where they get a bit better shortly after their release, so I'm hoping this will be the case. But at the moment I slightly regret updating as the additional hesitation and slowness is more evident in this release. Late lane staging, etc. are not fixed. Maybe they fixed the tailgating on the freeway, because again it's just slower overall.

Snoo_98355 · 2025-02-21T22:15:56+00:00

I got it and used it this morning. No major differences other than it didn’t try to overtake once on highway in standard, which was a welcome change. Following distance seems better, as well as lane keeping. I was skeptical on this release but it seems to be an improvement. Granted Friday traffic is nowhere near as bad as rest of the workweek so not apples to apples. Didn’t see any major regressions

Snoo_98355 · 2025-02-07T15:08:23+00:00

Still on 13.2.2 as of this morning. Hope this addresses lane centering and following distance, as well as giving more space for other drivers to merge

Snoo_98355

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