Linear Regression Line Following vs Glare

I understand that in the new firmware (that comes with IDE 2.0.0) there are improvements in handling glare. Are there additional commands or parameters that pertain to this? Are there any examples of what one might do to suppress glare and improve chances of following a yellow line?

Hi, use the binary() method with the “zero” argument. This allows you to remove all over saturated parts of the image and set them to zero without affecting other parts of the image.

Thanks Kwabena for your usual quick and helpful response.