There are 2 fixes Tesla could make to Autopilot that I think would make it much safer and pleasant to use.<p>1.) Set the self-steering torque limit much lower. By far the most anxiety-inducing thing of watching FSD videos on YouTube is how erratically the wheel jerks around when the system is unsure, and is literally unsafe because a driver’s reaction time won’t be quick enough.<p>2.) This one might be controversial, but don’t disengage Autopilot on driver steering. Keep disengage on gas and brake. If they implement (1), then it’s easy for the driver to overtake the system’s steering and course-correct. This also eliminates the driver’s hesitancy of taking over for fear of having Autopilot disabled for the remainder of the drive.<p>These two are features of Comma.ai’s system, and people report that as being a much more pleasant experience. I really think Tesla needs to think more about the human-computer interaction side of this.