Fsd vision system will need to rely on radar less and image processing more. The Tesla vehicle should not curb hug; it should avoid brake tapping if it thinks and object might enter it path but there was no intersection possibility ; it should resume target speed immediately after a block car changes lanes; it should not wander in the drive lane; it should accurately identify cars in the rear quadrant. Tesla should collect data from all cars and store it on the cloud for situation training automatically . Image processing should be watching far ahead to recognize when highway traffic has abruptly stop. It should watch other cars hitting brake lights to see a mass car slowdown occurring.