Tesla has completed a new Autopilot system software update for its AP 2.0 vehicles.

Improvements include improved lane keeping, better maneuvering on curves and hills, and improved automatic lane changes. Previously, many Tesla owners cited jerkiness from side to side when navigating in between lanes and uneven driving on curves and hills, with more refinement this time around.

Another update focuses on optimized Traffic-Aware Cruise control where vehicle speed is better managed upon approaching a vehicle in front of the driver.

Shortly after the software rewrite was released, Andrei Karpathz, Tesla’s AI director, expressed a commitment to improving Autopilot in future iterations.

Tesla’s Autopilot 2.0 marks the brand’s flagship initiative to equip its vehicles with full autonomy. Based on NVIDIA’s Drive PX2 artificial intelligence platform, it works alongside Tesla’s own AP 2.0 hardware to perform the functions mentioned above.

In a Q4 2017 letter to investors, Tesla also outlined its plans for improving its AP 2.0 software, referred to advancements in its “neural net,” using its postponed self-driving coast-to-coast drive as a springboard for change.

“Now that the foundation of the Tesla vision neural net is right, which was an exceptionally difficult problem, as it must fit into far less computing power than is typically used, we expect a rapid rollout of additional functionality over the next several months and are progressing rapidly towards our goal of a coast-to-coast drive with no one touching the controls.”