但要注意的是，几年前的技术架构非常原始粗糙，对比现在#FSD Beta# 的技术架构： / 四年前的老技术架构基于静止图片，很多代码编写的算法 / 新技术架构基于时序 BEV 矢量空间，还有了建模一切不规则环境的 occupancy network 。 / The legacy highway stack still relies on several single-camera and single-frame networks, and was setup to handle simple lane-specific maneuvers. FSD Beta’s multi-camera video networks and next-gen planner, that allows for more complex agent interactions with less reliance on lanes, make way for adding more intelligent behaviors, smoother control and better decision making.