Tesla Autopilot hardware
Tesla Autopilot, an advanced driver-assistance system for Tesla vehicles, uses a suite of sensors and an on-board computer. It has undergone several hardware changes and versions since 2014, most notably moving to an all camera-based system by 2023, in contrast with ADAS from other companies, which include radar and sometimes lidar sensors.
Initially, the ADAS used a combination of cameras capturing the visual spectrum, forward-facing radar, ultrasonic proximity sensors, and a Mobileye EyeQ3 computer as Hardware 1, fitted to Model S vehicles starting in October 2014. After Mobileye ended its partnership with Tesla in 2016, Tesla began shipping cars equipped with an Nvidia Drive PX 2 computer and an increased number of cameras as Hardware 2. In 2019, Tesla shifted to a computer using a custom "FSD Chip" designed by Tesla, branded as Hardware 3. Starting in 2021, Tesla stopped installing the radar sensor in new vehicles, and the ADAS was updated to drop radar support. In 2022, Tesla announced it also would drop support for the ultrasonic sensors, moving the ADAS to an all-visual system. The most recent sensor and computer implementation is Hardware 4, which began shipping in January 2023.
Physical versions
Hardware 1
![](http://upload.wikimedia.org/wikipedia/commons/thumb/8/8d/Tesla_Model_S_SAO_2016_9208.jpg/200px-Tesla_Model_S_SAO_2016_9208.jpg)
![](http://upload.wikimedia.org/wikipedia/commons/thumb/b/b3/Tesla_Model_S_with_Autopilot_Hardware_1_3.jpg/200px-Tesla_Model_S_with_Autopilot_Hardware_1_3.jpg)
Vehicles manufactured after late September 2014 are equipped with a single camera mounted at the top of the windshield, forward looking radar[1][2] in the lower grille, and 12 ultrasonic acoustic location sensors in the front and rear bumpers that provide a 360-degree view around the car.[3] The computer is the Mobileye EyeQ3;[4] as implemented, this chip is built on a 40 nm process with a TDP of 2.5 W and a clock speed of 500 MHz.[5]: 5 This equipment allows suitably equipped Tesla Model S and Model X vehicles to detect lane markings, obstacles, and other vehicles, enabling advanced driver-assistance functions branded Autosteer (automatic lane-keeping), Auto lane change, Autopark (parallel parking robot), and Side-collision warning.[3] The EyeQ3 used a neural network approach, relying primarily on inputs from the camera to recognize and label objects to determine which potential areas in the camera's field of view are unoccupied and possible for the vehicle to travel through.[5]: 4
Auto lane change can be initiated by the driver turning on the lane changing signal when safe (due to the ultrasonic sensors' 16-foot limited range capability), and then the system completes the lane change.[6] In 2016 the system did not detect pedestrians or cyclists,[7] and while Autopilot detects motorcycles,[8] there have been two instances of HW1 cars rear-ending motorcycles.[9]
Tesla released a new version of Autopilot in September 2016 that changed the object detection algorithm to more fully use the radar sensor; previously, primary obstacle detection responsibilities fell to the cameras and the radar was used in a secondary role to confirm their presence, but was not given the authority to initiate emergency braking alone. After the update, the radar data was given an equal role in object detection and made capable of identifying "dense obstacles" including "other vehicles, moose, or even alien spaceships", according to Musk. He added that Tesla "believe it would have" prevented the fatal May 2016 underride crash in Williston, Florida, in which Autopilot failed to detect a white trailer against the sky.[10]
Mobileye ended its partnership with Tesla in 2016, stating that Tesla was "going to hurt the interests of [Mobileye] and hurt the interests of an entire industry, if a company of our reputation will continue to be associated with this type of pushing the envelope in terms of safety".[11] Tesla responded that Mobileye backed away after learning Tesla was developing its own vision-based sensor system.[12] Speculation immediately following the announcement included partnering with Nvidia and potentially designing its own ADAS computer.[13] After Hardware 2 was released, an upgrade from Hardware 1 to Hardware 2 was not offered as it would have required substantial work and cost.[14]
Hardware 2
![](http://upload.wikimedia.org/wikipedia/commons/thumb/5/53/Tesla_AP2_Hardware.jpg/220px-Tesla_AP2_Hardware.jpg)
HW2, included in vehicles manufactured after October 2016, includes an Nvidia Drive PX 2[15] GPU for CUDA based GPGPU computation.[16][17] Tesla claimed that the hardware was capable of processing 200 frames per second.[18] Elon Musk called HW2 "basically a supercomputer in a car", referring to its capacity of up to 12 trillion operations per second.[19] The Autopilot computer hardware, housed just above the glovebox, is replaceable to allow for future upgrades.[20][21] Tesla claimed the HW2 suite of sensors and computation provided the necessary equipment to allow FSD at SAE Level 5.[22]
![](http://upload.wikimedia.org/wikipedia/commons/thumb/d/da/20220213_Tesla_Model_S75D_850_9151.jpg/220px-20220213_Tesla_Model_S75D_850_9151.jpg)
The hardware includes eight cameras covering an aggregate view of 360° around the car and 12 ultrasonic sensors, in addition to forward-facing radar with enhanced processing capabilities.[22] The radar is able to observe beneath and ahead of the vehicle in front of the Tesla;[23] the radar can see vehicles through heavy rain, fog or dust.[24] The eight cameras are mounted in various locations around the vehicle: three forward-facing, next to the central rearview mirror mounted on the windshield; two front/side cameras, one each mounted in the left and right B-pillars; two rear/side cameras, mounted in the left and right front fender turn-signal repeaters; and one rear camera, above the license plate.[19]
When "Enhanced Autopilot" was enabled in February 2017 by the v8.0 (17.5.36) software update, testing showed the system was limited to using one of the eight onboard cameras—the main forward-facing camera.[25] The v8.1 software update released a month later enabled a second camera, the narrow-angle forward-facing camera.[26] With all eight cameras enabled, data extracted from Autopilot in debugging mode showed the cameras provide a black-and-white feed to the computer, possibly to improve image processing speed.[27]
The Tesla Model 3, introduced in 2017, and related Model Y, introduced in 2019, are equipped with an additional driver-facing in-cabin camera. This was disabled at launch and was intended to monitor the cabin remotely while the owner was operating the vehicle as an autonomous robotaxi,[28] but was activated in May 2021 to monitor driver attentiveness while using Autopilot in vehicles without radar sensors.[29]
Hardware 2.5
![](http://upload.wikimedia.org/wikipedia/commons/thumb/c/cb/Tesla_Autopilot_HW2.5_and_Infotainment_Boards_%2850938493268%29.jpg/220px-Tesla_Autopilot_HW2.5_and_Infotainment_Boards_%2850938493268%29.jpg)
In August 2017, Tesla announced that HW2.5 included a secondary processor node to provide more computing power and additional wiring redundancy to slightly improve reliability; it also enabled dashcam and "sentry mode" capabilities.[30] During this time, the supplier for the system's radar components was changed from Bosch to Continental,[31] using the ARS4-B unit.[32]
Hardware 3
According to Tesla's director of Artificial Intelligence (AI) Andrej Karpathy, Tesla had, as of Q3 2018, trained large neural networks but they could not be deployed to Tesla vehicles built up to that time due to insufficient computational resources. HW3 was designed to run these neural networks.[33] Overall, Tesla claims HW3 has 2.5× improved performance over HW2.5, with 1.25× higher power and 0.2× lower cost.[34]
HW3 is based on a custom Tesla-designed system on a chip called "FSD Chip",[35] fabricated using a 14 nm process by Samsung.[36] Jim Keller and Pete Bannon, among other architects, have led the project since February 2016.[37] FSD Chip features twelve ARM Cortex-A72 CPUs operating at 2.6 GHz, two Neural Network Arrays operating at 2 GHz and a Mali GPU operating at 1 GHz.[34] Tesla claimed that FSD Chip processes images at 2,300 frames per second (fps), which is a 21× improvement over the 110 fps image processing capability of HW2.5.[37][38] The firm described FSD Chip as a "neural network accelerator" custom-designed for Tesla AI processing.[18] Each of the two neural network arrays on a single FSD Chip are capable of 36 trillion operations per second,[35] and there are two FSD Chips for redundancy.[39]
![](http://upload.wikimedia.org/wikipedia/commons/thumb/9/9f/Tesla_Autopilot_camera_5.jpg/200px-Tesla_Autopilot_camera_5.jpg)
![](http://upload.wikimedia.org/wikipedia/commons/thumb/7/74/Tesla_Model_3_rear_camera.jpg/200px-Tesla_Model_3_rear_camera.jpg)
![](http://upload.wikimedia.org/wikipedia/commons/thumb/1/12/Tesla_Model_3_Side_Badge_%2835857851690%29.jpg/200px-Tesla_Model_3_Side_Badge_%2835857851690%29.jpg)
![](http://upload.wikimedia.org/wikipedia/commons/thumb/2/28/Tesla_Autopilot_camera.jpg/200px-Tesla_Autopilot_camera.jpg)
HW3 cars are equipped with eight cameras, in the same locations and covering the same directions as the HW2 and HW2.5 cameras. Each of the eight cameras supplied with HW3 use the same AR0136A image sensor supplied by Onsemi, which has a maximum resolution of 1280×960 (1.2-megapixel) and a 3.75 μm pixel size.[40] Initial versions of HW3 also included a Continental ARS4-B radar module.[40] The HW3 system board is the same physical size as the HW2.5 board, but carries more components.[40] This makes it possible to upgrade from HW2 / HW2.5 to HW3, which was not possible during the prior generational change from HW1 to HW2/2.5.
The company claimed that HW3 was necessary for FSD, but not for "enhanced Autopilot" functions.[41] The first availability of HW3 was April 2019.[42] Customers with HW2 or HW2.5 who purchased the FSD package were promised an upgrade to HW3 without cost;[43] however, when FSD Beta was released in 2021, Tesla owners who had subscribed to FSD and owned a vehicle with HW2 or HW2.5 were required to pay US$1500 to upgrade to HW3. Owners who had purchased FSD with a one-time fee as part of their initial vehicle acquisition were eligible for a free upgrade to HW3.[44][45] Within days, Tesla reduced the cost of the upgrade to US$1000.[46] In 2022, a Tesla owner in the State of Washington won a default judgment against Tesla which ordered the company to upgrade his vehicle to HW3 without cost; in the ruling, the judge cited Tesla's promises that all cars sold since 2016 included the hardware for FSD.[47]
Tesla Vision
![](http://upload.wikimedia.org/wikipedia/commons/thumb/8/83/TeslaVision_eight-camera_system.svg/220px-TeslaVision_eight-camera_system.svg.png)
In late May 2021, Elon Musk posted to Twitter that "Pure Vision Autopilot" was starting to be implemented.[48] The system, which Tesla brands "Tesla Vision", eliminates the forward-facing radar starting in May 2021 from the Autopilot hardware package on Model 3 and Model Y vehicles built for the North American market.[49] The Washington Post reported in March 2023 the immediate result was "an uptick in crashes, near misses and other embarrassing mistakes by Tesla vehicles suddenly deprived of a critical sensor."[50] For vehicles without the forward radar, temporary limitations were applied to certain features such as Autosteer, and other features (Smart Summon and Emergency Lane Departure Avoidance) were disabled, but Tesla promised to restore the features "in the weeks ahead ... via a series of over-the-air software updates".
In response, Consumer Reports delisted the Model 3 from its Top Picks in 2021, and the Insurance Institute for Highway Safety (IIHS) announced plans to delist the Model 3 as a Top Safety Pick+,[51][52] but after further testing, both organizations restored those designations.[53] Also, NHTSA rescinded the agency's check marks for forward collision warning, automatic emergency braking, lane departure warning, and dynamic brake support, applicable to Model 3 and Model Y vehicles built on or after April 27, 2021,[54] but as of October 2022[update], those check marks have been restored.[55][56]
In December 2021, the New York Times reported that Musk had made a unilateral decision to pursue the camera-only approach and had "repeatedly told members of the Autopilot team that humans could drive with only two eyes and that this meant cars should be able to drive with cameras alone." Several autonomous vehicle experts have denounced the analogy.[57] According to former employees, Tesla engineers attempted to convince Musk that removing the radar could lead to crashes if the cameras became obscured, but Musk "was unconvinced and overruled" their objections.[50] Brad Templeton noted that lidar "will never fail to see a train or truck, even if it doesn't know what it is. It knows there is an object in front and the vehicle can stop without knowing more than that."[50] In contrast, Tesla Vision relies on the "Autopilot labeling team",[58] hundreds of Tesla employees that view short video clips recorded by the cameras to label visible signs and objects, which trains the machine vision interpreter.[50][59]
Tesla announced in October 2022 they would remove ultrasonic sensors by 2023; vehicles without the ultrasonic sensors would be shipped without Autopark, Park Assist, Summon, and Smart Summon features initially. However, Tesla promised these features would be restored in the future through a software update.[60]
Hardware 4
![](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2c/Tesla_Autopilot_camera_4.jpg/220px-Tesla_Autopilot_camera_4.jpg)
Samsung manufactures the processor for Hardware 4 (HW4) in Hwasung, South Korea, on a 7 nm process. The custom System on a chip (SoC) is called "FSD Computer 2".[61] According to a teardown of a production HW4 unit in August 2023, the board has 16 GB of RAM and 256 GB of storage, which are two and four times the RAM and storage in HW3, respectively.[62] Musk stated that HW4 computational capabilities are three to eight times more powerful than HW3.[63]
In June 2022, Tesla filed an application with the US Federal Communications Commission (FCC) to use a new radar module in future vehicles.[64] Based on filings with the Chinese government and a prototype Tesla Model 3 spotted in December 2022 while undergoing testing in Santa Cruz, it is believed that HW4 could include radar, high-resolution cameras, and fans and/or heaters fitted to the cameras to prevent fogging.[65] While automotive radar modules used in other manufacturer's cars have up to 200 channels (giving them capabilities similar to lidar),[32] an updated filing with the FCC in 2023 indicates the new radar module that might be included with HW4 is not likely to be high-resolution.[66]
Tesla started shipping cars with HW4 in January 2023, starting with the refreshed Model S and Model Y;[63] however, FSD was not available initially.[67] It took six months before HW4-based cars ran camera-based software.[63][68] Despite the increased image sensor resolution with HW4-equipped cars, HW4 runs the FSD software by emulating HW3, including downsizing the camera images, as Tesla has postponed training based on the new HW4 cameras.[69][63] Musk stated that the HW4-specific training of FSD will start after the new data center is finished at the Texas Gigafactory.[63]
Hardware 5
Musk announced Hardware 5 (HW5), being named AI5, during the Tesla annual meeting on June 13, 2024.[63][70] Musk stated it is scheduled for release in January 2026, and will be ten times more powerful than HW4.[63] Musk also stated that it will use up to 800 watts when processing complex environments (versus 300 watts for HW3 and HW4).[63]
Feature history
Hardware | Year | Function | Description[71] | Requirements | ||||
---|---|---|---|---|---|---|---|---|
HW1 | HW2 | HW3 | AP | EA | FSD | |||
![]() | ![]() | ![]() | 2014 | Over-the-air updates | Autopilot updates received as part of recurring Tesla software updates. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 | Safety Features | If Autopilot detects a potential front or side collision with another vehicle, bicycle or pedestrian within a distance of 525 feet (160 m), it sounds a warning.[72] Autopilot also has automatic emergency braking that detects objects that may hit the car and applies the brakes, and the car may also automatically swerve out of the way to prevent a collision. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 | Visualization | System generates a visualization of what it sees around it, including lane lines and vehicles in front, behind and on either side of it (in other lanes). It also displays lane markings and speed limits (via its cameras and what it knows from maps). On HW3, it displays stop signs and traffic signals. It distinguishes pedestrians, bicyclists/motorcyclists, small cars, SUVs, pickup trucks, buses, and large semi-trucks. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 | Speed Assist | Front-facing cameras detect speed limit signs and compare them against map data to display those limits on the dashboard center display even if no signs are detected.[72] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2018 [73] | Obstacle Aware Acceleration | Reduces acceleration when an obstacle is detected in the path of travel while driving at low speeds. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2019 [74] | Blind spot monitoring | Sounds warning chime when an obstacle is detected while changing lanes. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 [75][76][77] | Traffic Aware Cruise Control[77] | Also known as adaptive cruise control, the ability to maintain a safe distance from the vehicle in front of it by accelerating and braking as that vehicle speeds up and slows down. It also slows on tight curves, on interstate ramps, and when another car enters or exits the road in front of the car. It can be enabled at any speed between 0 mph and 90 mph. By default, it sets the limit at the current speed limit and adjusts its target speed according to changes in speed limits. If road conditions warrant, Autosteer and cruise control disengage and an audio and visual signal indicate that the driver must assume full control. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 [75][76][77] | Autosteer | Steers the car to remain in whatever lane it is in (lane keeping). It is able to safely change lanes when the driver taps the turn signal stalk.[78] On divided highways, HW2 and HW3 cars limit use of the feature to 90 mph (145 km/h), and on non-divided highways, the limit is five miles over the speed limit or 45 mph (72 km/h) if no speed limit is detected.[79] If the driver ignores three audio warnings about controlling the steering wheel within an hour, Autopilot disables until a new journey is begun.[80] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2019 [81] | Emergency Lane Departure Avoidance | Steers to prevent departing from a lane that may have a chance of collision. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2019 [81] | Lane Departure Avoidance | Steers to maintain lane centering. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 [82][83][84] | Lane Departure Warning | Warns the driver when the vehicle begins to move out of lane centering. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2016 [85][76][86][77] | Navigate on Autopilot | A set of features consisting of automatically 'guiding through highway interchanges and exits' including 'lane changes on certain roads'.[87] As of 2019, it navigates freeway interchanges fully from onramp to offramp, including automatic lane changes.[86][88][89] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 [89] | Automatic Lane Change | Lane changing without driver initiation.[90][6] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2015 [91][92][93][76][77] | Autopark | Parks the car in perpendicular or parallel parking spaces on either side of the road, with the car facing in or out, without driver supervision.[94][95] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2014 [75][76][77] | Summon | Moves car forward or backward in tight spaces using the key fob or the Tesla app, without the driver in the car.[96][97] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2019 [98] | Smart Summon | Enables line of sight 150 ft (46 m) remote car retrieval on private properties (parking lots) using the key fob or Tesla phone app.[99][100][101] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2019 [102] | Traffic Signs Aware | Traffic light, stop sign and yield sign recognition. | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2020 [77][103] | Traffic Light and Stop Sign Control[77][103] | When using Traffic-Aware Cruise Control or Autosteer, this feature will stop for stop signs and red traffic lights,[104] and will proceed through green lights.[105] Even when Autopilot is not engaged, the system can chime when the traffic light turns green.[106] | ![]() | ![]() | ![]() |
![]() | ![]() | ![]() | 2023 | Autosteer on city streets | Enables in-city navigation under FSD.[107] | ![]() | ![]() | ![]() |
Hardware
Hardware name | Hardware 1 | Hardware 2.0[a] | Hardware 2.5[b] | Hardware 3[c] | Hardware 4 | ||
---|---|---|---|---|---|---|---|
Initial availability date | 2014 | October 2016 | August 2017 | April 2019 | May 2021 | October 2022 | January 2023[63] |
Computers | |||||||
Platform | MobilEye EyeQ3[111] | Nvidia DRIVE PX 2 AI computing platform[112] | Nvidia DRIVE PX 2 with secondary node enabled[109] | Two identical Tesla-designed "FSD 1 Chip" (12 core) processors | Two identical Tesla-designed "FSD 2 Chip" (20 core) processors[113] | ||
Sensors | |||||||
Forward radar | 160 m (525 ft)[71] | 170 m (558 ft)[71] | None[114][d] | Model S & X: 300 m (984 ft)[118] Model 3 & Y: None | |||
Ultrasonic | 12 surrounding with 5 m (16 ft) range | 12 surrounding with 8 m (26 ft) range | None[119] | ||||
Front / Side camera | N/A | RCCC[71] | RCCB[71] | ||||
Forward cameras | 1 monochrome with unknown range | 3:
| All:
| ||||
Forward looking side cameras | N/A |
| 5 megapixel | ||||
Rearward looking side cameras | N/A |
| 5 megapixel |
Notes
- ^ All cars sold after October 2016 are equipped with Hardware 2.0, which includes eight cameras (covering a complete 360° around the car), one forward-facing radar, and twelve sonars (also covering a complete 360°). Buyers may choose an extra-cost option to purchase either the "Enhanced Autopilot" or "Full Self-Driving" to enable features. Front and side collision mitigation features are standard on all cars.[108]
- ^ Also known as "Hardware 2.1"; includes added computing and wiring redundancy for improved reliability.[109]
- ^ Tesla described the previous computer as a supercomputer capable of full self-driving.[110]
- ^ Radar hardware is not installed in Model 3 and Model Y vehicles built for the North American market and delivered in May 2021 or later, while Model S and Model X vehicles retain radar hardware.[115] In November 2021, Tesla China also removed radar.[116] Vehicles operating with Tesla FSD Beta do not use radar even if vehicle has the hardware.[117]
References
- ^ Isidore, Chris (July 18, 2016). "Elon Musk says Autopilot upgrade could be coming". CNN. US. Retrieved July 19, 2016.
- ^ Musk, Elon (July 17, 2016). "Twitter". Retrieved July 19, 2016.
- ^ a b LeBeau, Phil (October 15, 2015). "Tesla rolls out autopilot technology". CNBC. Retrieved 16 February 2023.
- ^ Lambert, Fred (January 2, 2017). "Lucid Motors' autonomous tech in its all-electric sedan will be powered by Tesla's former partner Mobileye". Electrek. Retrieved January 2, 2017.
- ^ a b Pirzada, Usman (December 3, 2015). "Exclusive: The Tesla AutoPilot – An In-Depth Look At The Technology Behind the Engineering Marvel". wccftech. Retrieved 17 June 2024.
- ^ a b Lavrinc, Damon (October 9, 2014). "Tesla Model S Auto Pilot Does Lane Changes For You". Jalopnik. Retrieved August 23, 2017.
- ^ Abuelsamid, Sam (July 1, 2016). "Tesla Autopilot Fatality Shows Why Lidar And V2V Will Be Necessary For Autonomous Cars". Forbes. Retrieved July 1, 2016.
- ^ Lambert, Fred (November 15, 2016). "Tesla Autopilot significantly improved pedestrian detection in v8 update tests show, now renders humans". Electrek. Retrieved December 21, 2016.
- ^ "Motorcycle rear-ending raises questions on Tesla vehicle type approval in Europe". New Atlas. October 21, 2016. Retrieved December 21, 2016.
- ^ Bigelow, Pete (September 11, 2016). "Tesla Upgrades Role of Radar in Autopilot Technology". Car and Driver. Retrieved 16 February 2023.
- ^ Bigelow, Pete (September 15, 2016). "Autopilot Component Supplier: Tesla Was 'Pushing the Envelope in Terms of Safety'". Car and Driver. Retrieved 16 February 2023.
- ^ "Tesla says Mobileye balked after learning carmaker to make own cameras". CNBC. Reuters. September 16, 2016. Retrieved 16 February 2023.
- ^ Pirzada, Usman (July 29, 2016). "The Future of Tesla Autopilot — What Happens After Mobileye?". wccftech. Retrieved 17 June 2024.
- ^ Lambert, Fred (January 23, 2017). "'Tesla will not stop innovating' and introduce 'major updates every 12 to 18 months', says Elon Musk". Electrek. Retrieved January 23, 2017.
require "stripping down the entire car and replacing 300+ parts"
- ^ Shapiro, Danny (October 20, 2016). "Tesla Self-Driving Car Built on NVIDIA DRIVE PX 2 – NVIDIA Blog". The Official NVIDIA Blog. Archived from the original on October 22, 2016. Retrieved October 21, 2016.
- ^ Lambert, Fred (October 10, 2016). "Tesla is about to increase its lead in semi-autonomous driving w/ 'Tesla Vision': computer vision based on NVIDIA's parallel computing". Electrek. Retrieved October 10, 2016.
- ^ Geuss, Megan (October 20, 2016). "Teslas will now be sold with enhanced hardware suite for full autonomy". Ars Technica. Retrieved October 20, 2016.
- ^ a b Wang, Brian (August 1, 2018). "Tesla claims to have 'world's most advanced computer for autonomous driving' with Autopilot 3.0 update coming next year". Electrek. Retrieved August 9, 2018.
- ^ a b Johnson, Davey G. (October 19, 2016). "Tesla Announces Major Self-Driving Hardware Revision and Future Level 5 Capability". Car and Driver. Retrieved 16 February 2023.
- ^ Lambert, Fred (October 20, 2016). "A look at Tesla's new Autopilot hardware suite: 8 cameras, 1 radar, ultrasonics & new supercomputer". Electrek. Retrieved October 20, 2016.
Musk did say that the new vehicles will eventually be able to upgrade the new onboard Autopilot computer since the access has been made relatively easy
- ^ Lambert, Fred (January 20, 2017). "First picture of Tesla's new NVIDIA onboard supercomputer for Autopilot installed in a car". Electrek. Retrieved 16 February 2023.
- ^ a b "Autopilot: Full Self-Driving Hardware on All Cars". Tesla Motors. Retrieved October 21, 2016.
- ^ "Video shows Tesla's new radar detect accident – and avoid it". The Mercury News. December 28, 2016. Retrieved June 23, 2020.
- ^ Gitlin, Jonathan M. (September 11, 2016). "Tesla is all about autopilot and radar in firmware 8". Ars Technica. Retrieved November 21, 2016.
- ^ Lambert, Fred (February 28, 2017). "Tesla Autopilot is currently using only 1 out of 8 cameras of the new hardware suite, still very much in 'beta'". electrek. Retrieved October 3, 2018.
- ^ Lambert, Fred (March 30, 2017). "Tesla's Autopilot 2.0 is now using 2 out of 8 cameras with the new update". electrek. Retrieved October 3, 2018.
- ^ Lambert, Fred (May 16, 2017). "Here's what Tesla's Autopilot 2.0 can see with its 8 cameras". Electrek. Retrieved 16 February 2023.
- ^ Fingas, Jon (April 12, 2020). "Elon Musk explains why Tesla's Model 3 has an in-cabin camera". engadget. Retrieved 16 February 2023.
- ^ Kolodny, Lora (May 28, 2021). "Tesla starts using cabin cameras to make sure drivers are paying attention". CNBC. Retrieved 16 February 2023.
- ^ "Discover Software Version 9.0". www.tesla.com. October 5, 2018. Retrieved September 21, 2019.
Dashcam is only available for Model S and Model X cars manufactured after August 2017...
- ^ "The Ultimate Guide to Tesla Autopilot". Current Automotive. November 2019.
- ^ a b Jeffs, James (January 6, 2022). "Tesla Dropping Radar Was a Mistake, Here is Why". ID Tech Ex. Retrieved 23 March 2023.
- ^ SeekingAlpha, Brian (October 25, 2018). "Tesla Q3 2018 Conference Call Transcript". SeekingAlpha. Retrieved February 13, 2021.
- ^ a b Cutress, Dr Ian. "Hot Chips 31 Live Blogs: Tesla Solution for Full Self Driving". www.anandtech.com. Retrieved August 21, 2019.
- ^ a b "Tesla and Nvidia spar over 'best' FSD chip". eeNews Europe. April 24, 2019. Retrieved 15 February 2023.
- ^ Coldewey, Devin (April 22, 2019). "Tesla vaunts creation of 'the best chip in the world' for self-driving".
- ^ a b Lambert, Fred (January 4, 2019). "Tesla leaks info about new self-driving computer in latest software update". Electrek. Archived from the original on January 4, 2019. Retrieved January 4, 2019.
- ^ Lambert, Fred (December 27, 2018). "Tesla to start testing new Autopilot Hardware 3 in employee vehicles". Electrek. Retrieved January 4, 2019.
- ^ Hollister, Sean (April 22, 2019). "Tesla's new self-driving chip is here, and this is your best look yet". The Verge. Retrieved August 24, 2020.
- ^ a b c Yoshida, Junko (June 24, 2020). "Teardown: Tesla's Hardware Retrofits for Model 3". EE Times Asia. Archived from the original on August 19, 2020. Retrieved 16 February 2023.
- ^ Wang, Brian (August 8, 2018). "Tesla's new Autopilot hardware upgrade will be free for owners with the $3,000 to $5,000 'Full Self-Driving' package". Electrek. Retrieved August 9, 2018.
- ^ "Tesla Invites More Employees To Beta Test Hardware 3 Autonomous Driving Upgrade". CleanTechnica. December 31, 2018. Retrieved January 4, 2019.
- ^ Alvarez, Simon (October 16, 2018). "Tesla owners who ordered Full Self-Driving will get free HW3 upgrade, says Elon Musk". TESLARATI.com. Retrieved February 4, 2019.
- ^ Ramey, Jay (July 19, 2021). "Tesla FSD Subscribers Might Need $1500 In New Hardware". Autoweek. Retrieved 17 June 2024.
- ^ "Full Self-Driving Computer Installations". Tesla Motor Company. Retrieved 17 June 2024.
If you purchased Full Self-Driving capability and have Autopilot computer 2.0 or 2.5, you are eligible for a complimentary upgrade to FSD computer. Certain early production vehicles may also receive complimentary camera replacements. A complimentary hardware upgrade is not available for Full Self-Driving capability subscriptions; however, you may be eligible to upgrade at your cost.
- ^ Hamilton, Isobel Asher; Levin, Tim (July 21, 2021). "Tesla knocked $500 off a hardware upgrade for its Full Self Driving subscription after customer backlash". Business Insider. Retrieved 17 June 2024.
- ^ Lambert, Fred (December 12, 2022). "Tesla ordered to upgrade self-driving computer for free due to 'false advertising'". electrek. Retrieved 17 June 2024.
- ^ @elonmusk (May 25, 2021). "Pure vision Autopilot is now rolling out in North America. There will be an update of this production release in 2 weeks, then FSD beta V9.0 (also pure vision) a week later. FSD subscription will be enabled around the same time" (Tweet) – via Twitter.
- ^ Lambert, Fred (2021-05-25). "Tesla announces transition to 'Tesla Vision' without radar, warns of limitations at first". Electrek. Retrieved 2022-11-01.
- ^ a b c d Siddiqui, Faiz (March 19, 2023). "How Elon Musk knocked Tesla's 'Full Self-Driving' off course". The Washington Post. Retrieved 23 March 2023.
- ^ Barry, Keith (May 27, 2021). "Tesla Model 3 Loses CR Top Pick Status and IIHS Safety Award After Dropping Features". Consumer Reports. Retrieved May 28, 2021.
- ^ Krisher, Tom (May 27, 2021). "Safety ratings yanked after Tesla pulls radar from 2 models". AP News. Retrieved May 28, 2021.
- ^ Chapman, Michelle (June 29, 2021). "Tesla Model 3 regains top safety pick designations". The Mercury News. Retrieved August 26, 2021.
- ^ Shepardson, David (2021-05-27). "Tesla loses U.S. designation for some advanced safety features". Reuters. Retrieved 2022-10-30.
- ^ "2022 TESLA MODEL 3 4 DR AWD | NHTSA". www.nhtsa.gov. Retrieved 2022-10-30.
- ^ "2022 TESLA MODEL Y 5-SEAT SUV RWD | NHTSA". www.nhtsa.gov. Retrieved 2022-10-30.
- ^ Metz, Cade; Boudette, Neal E. (December 6, 2021). "Inside Tesla as Elon Musk Pushed an Unflinching Vision for Self-Driving Cars". The New York Times. ISSN 0362-4331. Retrieved December 7, 2021 – via NYTimes.com.
- ^ "In Response to False Allegations". Tesla Motors. February 16, 2023. Retrieved March 23, 2023.
- ^ Kolodny, Lora (June 28, 2022). "Tesla is cutting about 200 Autopilot jobs and closing office in San Mateo, California". CNBC. Retrieved 6 April 2023.
- ^ Ramey, Jay (October 6, 2022). "Tesla Is Now Dropping Ultrasonic Sensors as Well". Autoweek. Retrieved 29 November 2022.
- ^ Hwang, Jeong-Soo (September 23, 2021). "Samsung to make Tesla's HW 4.0 self-driving auto chip". The Korea Economic Daily. Retrieved 15 February 2023.
- ^ Agatie, Cristian (18 August 2023). "Hardware 4 Teardown Shows How Tesla Shifted Resources Toward the Autopilot Computer". Auto Evolution. Retrieved 15 June 2024.
- ^ a b c d e f g h i Agatie, Cristian (2024-06-14). "Elon Musk Reveals the First Details About Hardware 5 Autopilot Computer and Sensors". autoevolution. Retrieved 2024-06-15.
- ^ Agatie, Cristian (9 June 2022). "Tesla Backpedals on the Use of Pure Vision in Its Vehicles, Files To Use a New Radar". AutoEvolution. Retrieved 23 March 2023.
- ^ Agatie, Cristian (15 January 2023). "Tesla Prepares To Launch Autopilot HW4 Sensor Suite With Higher Resolution Cameras". AutoEvolution. Retrieved 23 March 2023.
- ^ Agatie, Cristian (18 February 2023). "The New High-Definition Radar in Tesla's HW4 Is Not As Revolutionary as Promised". AutoEvolution. Retrieved 23 March 2023.
- ^ Agatie, Cristian (6 March 2023). "Shocking: Tesla Model S/X With HW4 Cannot Handle Full Self-Driving for Now". Auto Evolution. Retrieved 16 June 2024.
- ^ Clark, Frank O. (August 10, 2023). "First Days With Tesla Model S Plaid With Hardware 4". Clean Technica. Retrieved 15 June 2024.
- ^ Zlatev, Daniel (March 30, 2024). "Tesla emulates FSD 12 on Hardware 4.0 vehicles as Elon Musk says HW3 cars a priority". Notebookcheck. Retrieved June 15, 2024.
- ^ Ashraf, Anan (June 21, 2024). "Elon Musk Outlines Tesla Giga Texas Expansion Plans: New Data Center To Have Over 500MW Capacity In Next 18 Months To Power Own And Nvidia AI Hardware - Tesla (NASDAQ:TSLA)". Benzinga. Retrieved 2024-06-23.
- ^ a b c d e "Autopilot, Processors and Hardware – MCU & HW Demystified | TeslaTap". December 2019. Archived from the original on January 12, 2020. Retrieved January 12, 2020.
- ^ a b Model X Owner's Manual
- ^ Lambert, Fred (September 26, 2018). "Tesla Version 9.0: all new features based on your Model 3, Model S, or Model X generation". Electrek. Retrieved July 3, 2020.
- ^ Lambert, Fred (February 10, 2019). "Tesla releases new software update with blind spot warning and auto-folding mirrors". Electrek. Retrieved July 3, 2020.
- ^ a b c "Dual Motor Model S and Autopilot". Tesla. October 10, 2014. Archived from the original on December 6, 2019. Retrieved August 23, 2017.
Our goal with the introduction of this new hardware and software is not to enable driverless cars, which are still years away from becoming a reality. Our system is called Autopilot because it's similar to systems that pilots use to increase comfort and safety when conditions are clear. Tesla's Autopilot is a way to relieve drivers of the most boring and potentially dangerous aspects of road travel – but the driver is still responsible for, and ultimately in control of, the car.
- ^ a b c d e "Full Self-Driving Hardware on All Cars". August 23, 2017. Retrieved August 23, 2017.
- ^ a b c d e f g h "Autopilot and Full Self-Driving Capability". www.tesla.com. February 13, 2019.
- ^ Hall, Gina (December 16, 2015). "Tesla to limit self-driving functions". Silicon Valley Business Journal. Retrieved December 16, 2015.
- ^ Lambert, Fred (May 6, 2017). "Tesla releases important new Autopilot update removing Autosteer restrictions in new cars". Electrek. Retrieved January 28, 2021.
- ^ Shepardson, David (June 24, 2017). "Tesla, others seek ways to ensure drivers keep their hands on the wheel". Reuters. Retrieved January 28, 2021.
- ^ a b Lambert, Fred (May 3, 2019). "Tesla releases new active safety features powered by Autopilot". Electrek. Retrieved July 3, 2020.
- ^ Anthony, Mike (October 3, 2014). "UPDATE: Tesla Model S Now With Driver Assist Features". Inside EVs.
- ^ "Model X Owner's Manual 8.0, page 94" (PDF). Tesla. August 23, 2017. Retrieved August 23, 2017.
- ^ Tesla (December 20, 2018). "Model 3 Owner's Manual" (PDF). Tesla. Retrieved March 1, 2019.
- ^ Lambert, Fred (August 29, 2016). "Tesla Autopilot with new v8.0 software update is able to handle highway interchanges". Electrek. Retrieved August 23, 2017.
- ^ Barry, Keith (May 22, 2019). "Tesla's Updated Navigate on Autopilot Requires Significant Driver Intervention". Consumer Reports. Retrieved 2022-07-25.
- ^ Hawkins, Andrew J. (November 6, 2018). "Tesla's Navigate on Autopilot is like Waze on steroids". The Verge. Retrieved May 15, 2019.
- ^ a b "Introducing a More Seamless Navigate on Autopilot". www.tesla.com. April 3, 2019. Retrieved April 3, 2019.
- ^ Barry, Keith (May 22, 2019). "Tesla's Updated Navigate on Autopilot Requires Significant Driver Intervention". Consumer Reports. Retrieved August 26, 2021.
- ^ Teslarati (October 16, 2015). "How Does Tesla 'Autopark' Parallel Parking Work?". TESLARATI. Retrieved January 6, 2020.
- ^ Tesla Autopark Demo, retrieved January 6, 2020
- ^ Tesla Model S Autopilot (Autopark) Demonstration, retrieved January 6, 2020
- ^ Lambert, Fred (February 18, 2016). "Tesla pushes a new update with improved 'Autopark' and 'Summon' feature [v7.1 2.12.22 release notes]". Electrek. Retrieved February 23, 2017.
- ^ Burns, Matt (July 5, 2018). "Tesla adds autonomous parking mode to Model 3". TechCrunch. Retrieved January 28, 2021.
- ^ "Summon Your Tesla from Your Phone". www.tesla.com. January 10, 2016. Retrieved January 5, 2020.
- ^ D'Orazio, Dante (January 9, 2016). "You can now summon your Tesla from the curb". The Verge. Retrieved January 5, 2020.
- ^ Musk, Elon (April 6, 2019). "Tesla Enhanced Summon coming out in US next week for anyone with Enhanced Autopilot or Full Self-Driving option". @elonmusk. Retrieved April 6, 2019.
- ^ Plungis, Jeff (October 8, 2019). "Tesla's Smart Summon Performance Doesn't Match Marketing Hype". Consumer Reports. Retrieved January 5, 2020.
- ^ Hawkins, Andrew J. (September 30, 2019). "Tesla's Smart Summon feature is already causing chaos in parking lots across America". The Verge. Retrieved January 5, 2020.
- ^ Going ALL Electric (March 31, 2019), Tesla Enhanced Summon | Passes another vehicle, retrieved April 6, 2019
- ^ Lambert, Fred (December 9, 2019). "Tesla adds stop sign and traffic light 3D renders in move to city driving visualization". Electrek. Retrieved April 30, 2020.
- ^ a b Lambert, Fred (April 24, 2020). "Tesla releases new, highly anticipated Traffic Light and Stop Sign Control feature". Electrek. Retrieved April 30, 2020.
- ^ Lambert, Fred (April 24, 2020). "Tesla releases new, highly anticipated Traffic Light and Stop Sign Control feature". Electrek. Retrieved July 4, 2020.
- ^ Popa, Bogdan (October 2, 2020). "Tesla Cars No Longer Need Driver Input to Automatically Go Through Intersections". autoevolution. Retrieved January 26, 2021.
- ^ TESMANIAN. "Tesla 2020.36 OTA Adds Green Traffic Light Chime & Speed Limit Sign Reading". TESMANIAN. Retrieved March 11, 2021.
- ^ Hawkins, Andrew J. (October 23, 2019). "Tesla's 'Full Self-Driving' feature may get early-access release by the end of 2019". The Verge. Retrieved 28 November 2022.
- ^ Lambert, Fred (October 19, 2016). "Tesla announces all production cars now have fully self-driving hardware". electrek. Retrieved October 3, 2018.
- ^ a b Lambert, Frederic (August 9, 2017). "Tesla has a new Autopilot '2.5' hardware suite with more computing power for autonomous driving". electrek.co. Retrieved February 15, 2018.
- ^ Golson, Jordan (October 19, 2016). "All new Tesla cars now have hardware for 'full self-driving capabilities'". The Verge.
- ^ "The Future of Tesla Autopilot – What Happens After Mobileye?". Wccftech. July 29, 2016. Retrieved December 31, 2016.
- ^ "Tesla Self-Driving Car Built on NVIDIA DRIVE PX 2 | NVIDIA Blog". The Official NVIDIA Blog. October 20, 2016. Archived from the original on October 22, 2016. Retrieved December 31, 2016.
- ^ "Tesla Hardware 4 – Full Details and Latest News". Retrieved September 21, 2023.
- ^ Jin, Hyunjoo (June 2, 2021). "Explainer: Tesla drops radar; is Autopilot system safe?". Reuters. Retrieved November 30, 2021.
- ^ "Transitioning to Tesla Vision". Tesla Motors, Inc. May 25, 2021. Retrieved May 28, 2021.
- ^ "Transitioning to Tesla Vision". www.tesla.com. May 25, 2021. Retrieved December 1, 2021.
- ^ Klender, Joey (October 11, 2021). "Tesla tells new FSD Beta members their cars will use Pure Vision, axing radar altogether".
- ^ Agatie, Cristian (2023-06-01). "Tesla Model S/X Cars With Hardware 4 Feature HD Radar Units, Unlike the HW4 Model Y". autoevolution. Retrieved 2024-04-30.
- ^ Ramey, Jay (October 6, 2022). "Tesla Is Now Dropping Ultrasonic Sensors as Well". Autoweek. Retrieved 29 November 2022.
- ^ Agatie, Cristian (2024-03-01). "Tesla Model S and Model X To Start Shipping With Front Bumper Cameras, No Retrofit Planned". autoevolution. Retrieved 2024-04-30.