Support Vehicles Merging into Lane


Now Implemented!


Detect vehicles shifting into the lane in front and slow down to allow for the merge.


One of the things that seem not to work yet with TACC is detecting cars that get in the way, either cutting into our driving lane, or stopped in front of us, or to the side but partially intruding on our lane. The radar does fine detecting moving vehicles in front but performs poorly with stationary obstacles, and for some reason doesn’t slow down for cars that cut in. I’d like to suggest a simple solution:


Merging support was added around 2019 to FSD.

(voting combined from a close duplicate that has been removed)

lightly edited by moderator
Category: CY3XS Applies to:
     Created 3-Oct-2017


The cross traffic is what I see as really irritating and dangerous.  My M3 breaks HARD when a car crosses my lane FAR in front of me.  An example would be the car might be at a stop sign on a side street waiting for an opening to continue across my road and sees he has room to cross with no danger to anyone.  I immediately look through my mirror to see how traffic behind me reacted to my had breaking for no reason.
    Created 2-Jun-2019
My Model 3 on Autopilot has automatically slowed down to allow a vehicle in a merging lane to merge in front of me. I'm not sure if this works based on signaling or only if the adjacent lane is merging.
    Created 11-Dec-2018
Good points.

I find myself adjusting the distance setting often while AP is engaged, and it does seem that some of this could be automated. I have it set to high, 6 or 7, in light traffic. In medium traffic I will have it at 4 or 5, and if someone signals to enter my lane that is closer than that I will adjust up to 7 temporarily. If someone is lagging in the passing lane, I will adjust it down to 3 or so for them to notice my approach, then back up when the car ahead moves back to the right lane. I also move it down to 3 or below to pass a large truck quickly when there are other cars in left lane in front of me, rather than drift slowly by something that could do lots of damage if it drifted over.
    Created 1-Dec-2018
AP1 did a much better job than AP2 with regards to more smoothly applying the brakes, even while setting a low distance setting.  Hopefully the new release of V9 firmware next month improves this in AP2.
    Created 8-Aug-2018
This suggestion is just one of many changes coming to EAP.
    Created 12-Jun-2018