Fine Tuning

Open this from Settings → System → Fine Tuning. These are the steering and lane-behavior tuning knobs. They change how the car actually drives, so change one thing at a time and test it somewhere safe.

Torque tuning

IQ.Dynamic Settings opens the dynamic blending conditions and thresholds used by the IQ.Dynamic longitudinal mode.
Torque Auto Tune turns on the self-tuning neural-network feed forward that learns your car’s steering.
Self-Tune NNFF learns torque feed-forward values live as you drive.
Relaxed Self-Tune (Beta) uses looser limits while it learns, which can converge faster but is less strict.
Enable Custom Tuning exposes the manual torque parameters below so you can set them by hand.
Manual Real-Time Tuning lets you apply custom torque values live while driving.

Manual parameters

These appear once custom tuning is on.

Lateral Acceleration Factor scales how hard the car is willing to turn (shown in m/s²).
Friction compensates for steering friction so small corrections take effect.
NNFF toggles the neural-network feed forward model.
Turn Desires enables lane turn-desire behavior.
Lane Turn Desire Speed sets the speed threshold for turn desires (requires Turn Desires on).

Lane changes

Lane Change Preferences picks how lane changes work: Nudge (nudge the wheel to confirm), nudgeless, or timed.
Delay Lane Change w/ BSM waits to change lanes when the blind spot monitor sees traffic.

Lane placement

Lane Placement shifts where the car sits within the lane, left or right of center.
Plan Plus Recentering Force sets how strongly the planner pulls the car back toward its chosen lane position.