Without fanfare, Tesla has introduced their most refined self-driving computer, Hardware 4.0 (HW4), into the Model Y lineup. It's a surprising move, as it was believed HW4 would roll out with the Model Y redesign. This strategic decision, executed in Tesla’s unique, understated style, follows the quiet integration of HW4 into the luxury Model S and Model X models earlier this year.
This shift came to light thanks to one of our sources, who has provided accurate information in the past. Tesla owner Zack (@BLKMDL3) has now identified multiple Model Y units equipped with fresh hardware at his local delivery center. The distinctive upgraded side repeater and forward-facing cameras indicate HW4 were observed in both Long Range and Performance variants of the Model Y.
Transitioning to the New Standard
Notwithstanding these exciting sightings, numerous Model Ys with the previous hardware was still found at the delivery site. As is customary with Tesla’s approach to hardware rollouts, the full switch to HW4 across all Model Ys will take some time as Tesla factories incorporate these changes.
Source code information connected to a recently manufactured Model Y also confirmed the presence of HW4, designated as "AP HW4". Interestingly, this phased implementation might lead to disparities among Model Y units depending on their manufacturing origin. For instance, those made in China, where no HW4 incorporation has been reported yet, might cause Canadian customers to miss out on the HW4 upgrade.
HW4: Paving the Way for Enhanced Autonomy
Tesla’s HW4 represents the company’s commitment to refine its vision-based self-driving system further, shifting from the previous reliance on a combination of vision and radar sensors. It plays a pivotal role in Tesla’s bold objective to master Full Self-Driving (FSD) by year-end.
Nonetheless, it's worth noting that certain functionalities were not instantly available during the early stages of HW4 deployment. This factor likely played a role in Tesla's decision to delay its introduction of the Model Y. As Tesla continues perfecting HW4, further enhancements are anticipated, including improved handling of complicated maneuvers, such as unprotected turns.
Tesla has introduced hardware 4.0 for the Model Y
BLKMDL3/Twitter
The Hardware Evolution: Comparing HW4 and HW3
Insightful images shared by the Tesla community have provided a comparative look between HW4 and its predecessor, Hardware 3.0 (HW3). Of note, the side repeater cameras on the Model Y with HW4 have noticeably larger lens housings and a wider field of view. This departs from early anticipations, which projected HW4 would introduce additional cameras. Instead, the updated hardware seems to enhance the existing camera system.
What Lies Ahead
The introduction of HW4 into the Model Y marks a remarkable stride in Tesla's commitment to perfecting Full Self-Driving technology. As Tesla continues to develop and refine HW4, it's exciting to envision the transformative potential this holds for the automotive landscape.
While Tesla CEO Elon Musk’s ambitious vision of a Robotaxi fleet may still be some way off, the integration of HW4 in the Model Y undeniably represents a key milestone in that journey. As this revolutionary technology evolves, the world eagerly awaits the exciting advancements it promises to bring to the autonomous driving experience.
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Tesla has released software update 2025.2.6, and while minor updates typically focus on bug fixes, this one introduces a major new feature. With this update, Tesla has activated the in-cabin radar, a sensor that has been included in some vehicles for more than three years but remained unused until now.
Why Not Vision?
Unlike vision-based systems, radar can precisely measure object dimensions and even detect movement behind obstacles by bouncing radio waves off surrounding surfaces. This allows for more accurate and reliable measurements of objects that vision may not even be able to see, such as behind the front seats.
What Tesla Announced
Tesla recently highlighted the 4D radar in the new Model Y, explaining how it will improve passenger safety. Tesla executives stated that the radar would be used to properly classify passengers and improve the way airbags deploy.
Tesla went on to say that in a future update, Tesla will use the in-cabin radar to detect any potential passengers left in the vehicles. Since radar can even pick up on heartbeat and breathing patterns, it can provide a much more accurate method of detecting children left in a vehicle. Tesla talked about how the vehicle will send owners a notification via the Tesla app and enable the HVAC system if it detects a passenger in the vehicle. It’ll even call emergency services if needed.
New Feature in Update 2025.2.6
Tesla has officially named this feature in update 2025.2.6, “First-Row Cabin Sensing Update,” which appears to align with the first portion of what Tesla discussed in the new Model Y video.
In the release notes, Tesla describes the update as:
“The first-row cabin sensing system has been updated to use cabin radar, which is now standard in all new 2025 Model Ys. Your Model Y was built pre-equipped with the necessary hardware, allowing Tesla to also bring this technology to your vehicle.”
For now, it appears that Tesla is using the radar to detect and classify passengers in the front seats. This could eventually replace traditional seat sensors, reducing the number of hardware components and lowering production costs.
Tesla plans to expand the feature later this year, bringing rear-seat passenger detection in Q3 2025. While Tesla talked about the feature for the new Model Y, we expect it to be available for all vehicles with the in-cabin radar.
Supported Models
Although Tesla is vague in their release notes, this feature is being added to all Model Ys that include a cabin radar. Tesla started including the cabin radar in 2022, but its availability may vary by region and model. The Model 3 didn’t receive the cabin radar until it was redesigned in 2024, while all Cybertrucks already include it.
The owner’s manual for the redesigned Model S and Model X doesn’t specifically mention the interior radar, although Greentheonly believes the vehicles also include one, so we’ll have to wait to determine whether those vehicles also receive this new feature.
At this time, the feature appears to be only going out to Model Y vehicles, but we expect it to become available on other supported models soon.
We love to see these kinds of updates. Tesla is increasing the safety of existing and new vehicles through a software update while also making them more affordable to own.
Tesla has updated the Tesla app to version 4.42.0, and this time, it’s more than just bug fixes. The app includes a new service interface, introduces support for the new Model Y, and, for the first time, includes some code for the Robotaxi coming later this year.
This update was released for iOS and should be available on Android within a few days.
Refreshed Model Y 3D Model
First up in the update is the introduction of the 3D model for the refreshed Model Y. Interestingly, while we all know it as Juniper, the file code name inside the update lists the vehicle as “Bayberry.” The Bayberry name was introduced in Tesla app update 4.41.5. Tesla’s internal code names sometimes change as the vehicle evolves - and we’ll continue to refer to it as the refreshed or new Model Y for ease of understanding.
A rear-angle shot of the Refreshed Model Y from the Tesla App
@olympusdev_ on X
As usual with Tesla’s 3D models in the app, there’s a lot of detail, although it’s not easy to see since you can pinch and zoom the model in the app. The 3D models used in the app are actually the same models that Tesla uses in the vehicle, although sometimes they include different lighting effects, but they’re all highly detailed.
Robotaxi API
Tesla has added a new endpoint in their app for Robotaxi - and it’s the very first Robotaxi or Cybercab-related item we’ve seen in the app. With the Robotaxi fleet launching in June, according to Tesla, it looks like they’re now adding support to the Tesla app.
What the Robotaxi interface is supposed to look like in the future.
Not a Tesla App
The new app API is called “rides_feedback_upload,” which seems pretty explanatory. Tesla will need to gather a lot of information on ride quality and all the little things in between. What better way than to get feedback directly from users?
While Tesla previously released prototype images of what the Robotaxi app will look like, the introduction of this API into the Tesla app leads us to believe that Tesla will utilize the current app for Robotaxi use.
Updated Service Interface
The Updated Service Panel in the Tesla App
Not a Tesla App
Tesla has released an updated UI for the Tesla Service panel, and we have a ton of details on these changes. This new pane displays appointment details more prominently. If you have a service appointment scheduled, you’ll now see a lot more details on the main service screen. The app will now display:
Your current service status
Appointment date and time, which you can now tap on to add the event to your calendar
Address and hours of the service center. You can now also tap on the address to open up the location in your maps app
There’s also a new appointment details screen (the right portion of the image). This screen displays additional details that were previously unavailable, such as your transport type. The app will display whether you’ll get a loaner vehicle, demo vehicle, or something else.
There are a ton of user experience (UX) improvements in this update regarding service, including clearer language, improved UI fixes to images, and more.
Tesla has been making a lot of positive updates to the Service-related sections of the app lately, and we’re happy to see these coming rapid-fire. Tesla Service is now easier to use and understand. In the previous app update, Tesla also added the ability to pull down to update the service screens.
![The Design & Engineering Behind the New Model Y [Video]](https://www.notateslaapp.com/img/containers/article_images/model-y-2025/2025-model-y-speaker.webp/e933556c6b2b4ce77ab652524f3a8ac0/2025-model-y-speaker.jpg)
