In October, Tesla rolled out its Full Self-Driving Beta software to a handful of owners to test the feature, and this clip offers a glimpse of what the system is capable of.

The Full Self-Driving suite of autonomous technologies is arguably the closest thing currently available to full autonomy, so it’s interesting to see how it performs in a real-world scenario.

During this video, a Model 3 equipped with the system approaches a garbage truck on the road that’s traveling slowly and stopping frequently. The car’s systems soon decide that the best course of action would be to overtake it.

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As such, the Tesla moves slightly to the left to see if there are any vehicles ahead and if it’s safe to overtake. Before long, the Tesla recognizes that there is no oncoming traffic and overtakes the garbage truck.

On the one hand, this is a pretty impressive demonstration of the vehicle’s abilities. However, it was far from a smooth overtaking maneuver, as the driver did have to intervene at one stage when the Model 3 tried to get back into its lane too soon.

Then, the car stayed in the opposite lane for far longer than it needed to. So, while it did get the job done, the whole process could have been smoother.