Full Self-Driving (Beta) v11.4.4

• Improved short-deadline lane changes, to avoid going off-route, through better modeling of target lane vehicles to improve gap selection assertiveness.

• Improved offset consistency when controlling for static obstacles. Also improved smoothness when changing offset direction by adjusting speed more comfortably.

• Improved handling of oncoming cars on narrow unmarked roads by improving prediction of oncoming car's trajectory and leaving enough room for them to pass before re-centering.

• Improved Occupancy Flow prediction from the Occupancy Network for arbitrary moving obstacles by 8%.

• Expanded usage of the new object ground truth autolabeler for the NonVRU detection model, improving distant vehicle recall and geometry precision for semi-trucks, trailers, and exotic vehicles.

• Improved VRU control by expanding planning scope to control gently for low-confidence detections that may interfere with ego's path.

• Improved handling for VRUs near crosswalks by predicting their future intent more accurately. This was done by leveraging more kinematic data to improve association between crosswalks and VRUs.

• Improved ego's behavior near VRUs by tuning their assumed kinematic properties and utilizing available semantic information to classify more accurately their probability of intersecting ego's path.

• Improved Automatic Emergency Braking recall in response to cut-in vehicles and vehicles behind ego while reversing.