[shiftpgdn]

It's trying to center in an extremely large lane. An easy fix would be to not have a huge concrete wall jutting into the middle of the freeway without lane markers.

I feel like people forget human drivers hit those same barriers with alarming frequency.

[gundmc]

The lane markings looked pretty clear in this instance.

That being said, Tesla's cruise control capabilities are best in class, but it's misleading marketing-speak to call it true self-driving.