Tesla's initial Autopilot run was literally LKA running on a loop. Mobileye had put that exact sensor suite in dozens of production vehicles but left it to LKA

Tesla's initial Autopilot run was literally LKA running on a loop. Mobileye had put that exact sensor suite in dozens of production vehicles but left it to LKA duties due to the inherent danger of expecting the user to take over at any moment. To that end, the system actually provided more input when it detects wrong input than when it detected no input. For example, feel a strong nudge when you try and change lanes without signaling before you leave the lane, but with no input at all the car would be riding the line before correcting, essentially preventing hands free usage It focused on correcting behavior without causing sudden hard to correct errors... like driving into a concrete barrier when your hands aren't ready to provide counter-input