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Autopilot has trouble with stationary objects.

https://www.wired.com/story/tesla-autopilot-why-crash-radar/

Stationary objects are less likely to be recognized than moving ones: https://www.wired.com/story/tesla-autopilot-why-crash-radar/

I wonder why these systems aren't linked to GPS and maps, surely you'd be able to calculate that going right into the middle of two fork options isn't going to end well.

I've heard that GPS is only accurate from about 3-5 meter radius. I think this was also in the same thread talking about the government improving it though.

GPS by itself isn't accurate enough to determine what lane you're in.

Even WAAS GPS [1] (used by autopilots for airplanes) is specified to be accurate only up to 25 ft, although the measured accuracy is usually around 3 ft.

[1] https://en.wikipedia.org/wiki/Wide_Area_Augmentation_System

Propably not. A car stopping because "its confused" in the middle of a high speed lane is dangerous. Slowing down OTH (as it is shown in the video).