Tesla CEO Elon Musk has admitted that the Full Self-Driving system is not that great, adding that the company is trying for a single tech platform for both highway and city streets to make the driving experience better.

In a tweet, Musk said: “FSD Beta 9.2 is actually not great imo, but Autopilot/AI team is rallying to improve as fast as possible. We’re trying to have a single tech stack for both highway & city streets, but it requires massive NN (neural network) retraining.”

He then posted: “Just drove FSD Beta 9.3 from Pasadena to LAX. Much improved!”

The new FSD feature enables drivers to use several advanced driver-assist features via Autopilot mode on local, non-highway streets, reports The Verge.

For an additional $10,000, people can buy “full self-driving” or FSD, which Musk promises will deliver full autonomous driving capabilities.

Full Self-Driving capabilities include navigate on Autopilot, Auto Lane Change, Summon (moves your car in and out of a tight space using the mobile app or key).

Tesla in July launched its Full Self-Driving (FSD) subscription package for $199 per month.

For those who previously bought the Enhanced Autopilot package, the FDS feature would cost $99 a month.

Tesla owners can cancel their monthly FSD subscription at any time, according to the website.

According to Electrek, the EV maker aims to deliver a true level 5 full self-driving system and people buying the package are betting on Tesla achieving that goal.

The latest beta version is long-delayed and was first promised in 2018.

Musk also confirmed that Tesla will release a new user interface with its FSD v9 Beta software update.