4 September 2026
From Rule-Based Code to End-to-End Model: XPeng 5.4.0's Leap
A long-time G6 owner on the day XPeng switched planning/control from code to an end-to-end large model — and why it felt like a step change.
As a G6 owner for over a year and 40,000 km, my take: the P7+ debuts the 5.4.0 software. Apart from stop-start and ETC, smart driving is smooth, human-like, and zero-takeover.
This leap came when XPeng switched planning/control from program code to an end-to-end large model on May 20 — it solved the common problems I'd hit over months in my G6 and in multiple Huawei test drives. It feels like the first truly mature version nationwide after the code-to-AI-model switch.
Space is also big: longer wheelbase, shorter nose, optimized roof glass, four heated/ventilated/massage seats, reclining rear seats, more refined interior — coupe looks, SUV space, MPV comfort.
These two points are a real advance for XPeng and the industry. XPeng has spent a decade on intense, consistent, forward-looking R&D in smart driving and AI — and now the product cycle and software cycle have both arrived.
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Source: 姬永锋 (Weibo) — translated & adapted for XPENGTech.
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