@inthehands I own one, and I can tell when they switched from radar to vision to determine obstacle in front of the car, it became much smoother and reliable. Radar is too low-res and just results in noisy signal you can't rely on.

Another thing that's missing is memory. Musk likes to talk about human eyes as sensors, but we also rely on memory *a lot*. After through a turn a few times, a human is much better at predicting behavior. But Tesla goes through every interaction with tabula rasa.