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Autopilot Generations

SC01-era vehicles can have different Autopilot hardware based on build timing and later retrofit work. Hardware generation affects the sensors, computer, available feature set, and upgrade path. It does not establish which paid software packages are active on the car.

AP1 / HW1

Autopilot 1 (AP1 / HW1)

Approx. October 2014 to October 2016

Features and strengths

  • Its peak feature set includes Traffic-Aware Cruise Control, Autosteer, Auto Lane Change, Autopark, and basic Summon when the required software package is active.
  • It remains a familiar highway driver-assistance system on many early Model S and Model X vehicles.

Limitations

  • There is no supported path to AP2 or HW3. Replacing the computer cannot turn an AP1 car into a later hardware generation.
  • If later supervised autonomy features matter to you, choose an AP2 or AP2.5 car with confirmed HW3, or a newer car. AP1 cannot be upgraded into that path.

Hardware

  • Mobileye-based single-camera system with one forward-facing camera and its original computer
  • First-generation forward radar
  • 12 ultrasonic sensors

AP2 / HW2

Autopilot 2 (AP2 / HW2)

Approx. October 2016 to mid-2017

Features and strengths

  • Introduced Tesla's eight-camera suite with Traffic-Aware Cruise Control, Autosteer, Auto Lane Change, Autopark, and Summon when the required package is active.
  • Eligible vehicles can receive an HW3 computer retrofit. Navigate on Autopilot can also be available when the car, package, software, and region support it.

Limitations

  • The original AP2 computer is not HW3. The installed hardware does not prove that Enhanced Autopilot or Full Self-Driving is active or transfers with the car.
  • Dashcam and Sentry recording can depend on later computer and infotainment upgrades. Tesla may also replace eligible early AP2 cameras during some HW3 retrofits.

Hardware

  • Eight external cameras providing 360-degree coverage
  • Forward-facing radar
  • 12 ultrasonic sensors
  • NVIDIA-based Tesla Autopilot computer

AP2.5 / HW2.5

Autopilot 2.5 (AP2.5 / HW2.5)

Approx. mid-2017 to April 2019

Features and strengths

  • Retains the AP2 multi-camera feature set while adding a revised computer with added compute redundancy.
  • Dashcam and Sentry Mode can be supported on compatible configurations. Eligible vehicles can receive an HW3 computer retrofit.

Limitations

  • AP2.5 is not HW3. Its hardware alone does not prove that Enhanced Autopilot, Full Self-Driving, or any specific feature is active.
  • Dashcam, Sentry Mode, and later supervised features depend on the installed computer, infotainment hardware, software package, current software, and region.

Hardware

  • Eight external cameras
  • Forward-facing radar
  • 12 ultrasonic sensors
  • Revised NVIDIA-based dual-compute Autopilot computer

HW3

HW3 / FSD Computer (Retrofit)

Retrofit offered from 2019

Features and strengths

  • Replaces the AP2 or AP2.5 computer with Tesla's FSD Computer 3.0 and supports the wider supervised feature set available to eligible vehicles.
  • Tesla offers the retrofit to eligible cars. Whether installation is complimentary depends on how Full Self-Driving was acquired and Tesla's current terms.

Limitations

  • HW3 does not make the vehicle autonomous. Current Full Self-Driving features require active driver supervision and vary by vehicle, software, configuration, and region.
  • The retrofit does not prove that Full Self-Driving is owned or active. Verify the computer under Controls > Software > Additional Vehicle Information, then verify the software package separately.
  • The computer swap normally keeps the AP2-era cameras and sensors. Tesla says some eligible early AP2 cars may also receive camera replacements.

Hardware

  • Tesla Full Self-Driving Computer 3.0
  • Existing AP2 or AP2.5 camera, radar, and ultrasonic suite unless Tesla performs an eligible camera replacement