FSD Beta 10.69 gets limited release, big FSD price increase coming September 5 [2022.16.3.10 Release Notes & Video]

fsd beta 10 69
Credit: Chuck Cook | YouTube

Tesla has started a limited release of the latest version of Full Self-Driving Beta, v10.69, with the rollout of the 2022.16.3.10 software update.

FSD Beta v10.69

The update rolled out late last night as promised after several delays, and also as promised, was limited to only around 1,000 beta testers. Some of those who were lucky enough to receive the update included several original testers, but we have yet to receive a report of anyone in Canada receiving the update.

One owner who was included in the first wave was Chuck Cook, which was not a surprise considering Cook and his infamous unprotected left turn was included in the release notes, which you can see at the bottom of this article.

Cook has already taken his car out to test the turn, and was able to successfully complete the turn on the first try. Some of the changes included a new visualization of the creep limit and the median crossover region. You can check out Cook’s video below.

On Sunday morning CEO Elon Musk reiterated the phased release of v10.69 to more testers. He did however leave the window open for further delays, saying it would “probably” go to wider release at the end of next week, and “in a few weeks it should be good enough to provide to all FSD Beta participants.”

FSD Beta Price Increase

Soon after the release, Musk announced a big price increase for the Full Self-Driving suite, saying it would be increasing to $15,000 in North America on September 5. Musk clarified that new vehicle orders with FSD made before September 5 but delivered later will get the current price.

Musk didn’t clarify however what the price increase will be in Canada. Since his tweet mentioned North America, we are assuming the price in Canada and the US will be $15,000.

Currently, FSD costs $12,800 in Canada and $12,000 in the US, so there if that is not the case and Tesla keeps with the same spread, FSD should increase to about $16,000 in Canada. If Tesla goes with a straight exchange (unlikely), FSD will cost over $19,000 in Canada on September 5.

Musk did not clarify whether the price of the FSD subscription will also be increasing, or whether there will be a change to the price of Enhanced Autopilot (EAP).

FSD Beta v10.69 Release Notes [2022.16.3.10]

Here are the full FSD Beta v10.69 release notes. It is worth noting that they differ from the first release of this version, which was originally labelled v10.13. For example, “improved in-lane positioning on wide residential roads” is no longer included in v10.69.

v10.69 Release Notes (via NotATeslaApp)

– Added a new “deep lane guidance” module to the Vector Lanes neural network which fuses features extracted from the video streams with coarse map data, i.e. lane counts and lane connectivities. This architecture achieves a 44% lower error rate on lane topology compared to the previous model, enabling smoother control before lanes and their connectivities becomes visually apparent. This provides a way to make every Autopilot drive as good as someone driving their own commute, yet in a sufficiently general way that adapts for road changes.

– Improved overall driving smoothness, without sacrificing latency, through better modeling of system and actuation latency in trajectory planning. Trajectory planner now independently accounts for latency from steering commands to actual steering actuation, as well as acceleration and brake commands to actuation. This results in a trajectory that is a more accurate model of how the vehicle would drive. This allows better downstream controller tracking and smoothness while also allowing a more accurate response during harsh maneuvers.

– Improved unprotected left turns with more appropriate speed profile when approaching and exiting median crossover regions, in the presence of high speed cross traffic (“Chuck Cook style” unprotected left turns). This was done by allowing optimisable initial jerk, to mimic the harsh pedal press by a human, when required to go in front of high speed objects. Also improved lateral profile approaching such safety regions to allow for better pose that aligns well for exiting the region. Finally, improved interaction with objects that are entering or waiting inside the median crossover region with better modeling of their future intent.

– Added control for arbitrary low-speed moving volumes from Occupancy Network. This also enables finer control for more precise object shapes that cannot be easily represented by a cuboid primitive. This required predicting velocity at every 3D voxel. We may now control for slow-moving UFOs.

– Upgraded Occupancy Network to use video instead of images from single time step. This temporal context allows the network to be robust to temporary occlusions and enables prediction of occupancy flow. Also, improved ground truth with semantics-driven outlier rejection, hard example mining, and increasing the dataset size by 2.4x.

– Upgraded to a new two-stage architecture to produce object kinematics (e.g. velocity, acceleration, yaw rate) where network compute is allocated O(objects) instead of O(space). This improved velocity estimates for far away crossing vehicles by 20%, while using one tenth of the compute.

– Increased smoothness for protected right turns by improving the association of traffic lights with slip lanes vs yield signs with slip lanes. This reduces false slowdowns when there are no relevant objects present and also improves yielding position when they are present.

– Reduced false slowdowns near crosswalks. This was done with improved understanding of pedestrian and bicyclist intent based on their motion.

– Improved geometry error of ego-relevant lanes by 34% and crossing lanes by 21% with a full Vector Lanes neural network update. Information bottlenecks in the network architecture were eliminated by increasing the size of the per-camera feature extractors, video modules, internals of the autoregressive decoder, and by adding a hard attention mechanism which greatly improved the fine position of lanes.

– Made speed profile more comfortable when creeping for visibility, to allow for smoother stops when protecting for potentially occluded objects.

– Improved recall of animals by 34% by doubling the size of the auto-labeled training set.

– Enabled creeping for visibility at any intersection where objects might cross ego’s path, regardless of presence of traffic controls.

– Improved accuracy of stopping position in critical scenarios with crossing objects, by allowing dynamic resolution in trajectory optimization to focus more on areas where finer control is essential.

– Increased recall of forking lanes by 36% by having topological tokens participate in the attention operations of the autoregressive decoder and by increasing the loss applied to fork tokens during training.

– Improved velocity error for pedestrians and bicyclists by 17%, especially when ego is making a turn, by improving the onboard trajectory estimation used as input to the neural network.

– Improved recall of object detection, eliminating 26% of missing detections for far away crossing vehicles by tuning the loss function used during training and improving label quality.

– Improved object future path prediction in scenarios with high yaw rate by incorporating yaw rate and lateral motion into the likelihood estimation. This helps with objects turning into or away from ego’s lane, especially in intersections or cut-in scenarios.

– Improved speed when entering highway by better handling of upcoming map speed changes, which increases the confidence of merging onto the highway.

– Reduced latency when starting from a stop by accounting for lead vehicle jerk.

– Enabled faster identification of red light runners by evaluating their current kinematic state against their expected braking profile.

– Press the “Video Record” button on the top bar UI to share your feedback. When pressed, your vehicle’s external cameras will share a short VIN-associated Autopilot Snapshot with the Tesla engineering team to help make improvements to FSD. You will not be able to view the clip.

About Darryn John 5530 Articles
Founder and Editor-in-chief of Drive Tesla Canada | Darryn@DriveTeslaCanada.ca Have a Tesla tip? Email tips@driveteslacanada.ca, or DM us on Twitter @DriveTeslaca