Tesla Autopilot: Difference Between Basic Autopilot, Enhanced Autopilot and FSD

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Depending on your region, Tesla offers two or three Advanced Driver Assistance Systems (ADAS). They may be available as a one-time purchase or as a subscription model.

Autopilot, the basic package, is now available for free on all Tesla vehicles. However, that hasn’t always been the case and if you’re buying a used Tesla, it may not come with Basic Autopilot.

Enhanced Autopilot offers a few additional features, but its availability will vary depending on the market. It has previously been available for purchase in North America, but it’s currently unavailable as Tesla tries to push more people toward the now cheaper FSD option.

Finally, FSD—or Full Self-Driving—is Tesla’s capstone feature. It allows its vehicles to drive to most locations without a driver intervention but requires constant supervision.

We’ll break down each of the three offerings and what they include below.

Basic Autopilot

Tesla’s standard offering is Basic Autopilot. It comes on every new vehicle for free (since about 2019), and there are no additional charges for it. Autopilot consists of two key features, “Traffic-Aware Cruise Control” and “Autosteer”.

Alongside these features, Tesla offers a whole host of safety features, such as Automatic Emergency Braking, that are included with every vehicle. Some vehicles may require HW3, which was launched in 2019.

Traffic-Aware Cruise Control

Traffic-Aware Cruise Control, or TACC, as it is more commonly known, is enhanced cruise control. The driver is still steering, but TACC automatically adjusts the vehicle's speed to maintain the following distance from vehicles in front.

TACC is initiated with one downward tap of the right steering stalk. If the vehicle includes FSD and it is enabled under Controls > Autopilot, it must be turned off before TACC is available.

TACC following distances can be adjusted by pushing the right scroll wheel on the steering wheel or yoke to the left or right. You can adjust TACC’s speed (up to +10mph or +10km/h above the posted limit on non-highways) by scrolling the same wheel up and down.

Autosteer

Autosteer is essentially an enhanced lane-keeping system. It works in conjunction with TACC to keep the car in the marked (or unmarked) lane. It is functional at any speed above 10 mph or 15 km/h but will not stop for stop signs or lights. This is important to keep in mind, as Autosteer is extremely useful but will not obey any traffic control signs, perform turns, or change lanes. It requires full driver supervision at all times.

Autosteer functions on both surface roads and highways, with no limitations on surface roads other than the same limits that apply to TACC on surface roads regarding maximum speed. Autosteer can greatly help reduce driver fatigue, and drivers can take over whenever they need to turn, use an off-ramp, or encounter a traffic control like a stop sign or traffic lights.

One of the coolest things you’ll notice on Autopilot, whether on the highway or on a regular road, is that it will provide extra space for larger vehicles – it will move over within the lane to ensure that adequate space is maintained. This is also beneficial to cyclists, who are provided the correct 5 ft (1.5m) distance between them and a vehicle. Don’t be scared if your Tesla moves to the edge of the lane to give them a little space.

Park Assist

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Tesla's Park Assist feature (video) provides a 3D reconstruction of the vehicle's surroundings while parking, similar to a 360-degree camera but with 3D models built in real-time.

The system leverages Tesla Vision to create the surrounding environment, including cars, pillars, bikes, and other nearby objects. It may not recognize all the objects, but it can define their outlines and build a 3D model.

Each 3D model is gray, but changes color the closer the vehicle gets to the object. The objects go from gray to yellow, orange, and finally red.

Since these are actual 3D models, you can even pan and rotate the on-screen models to view them from various angles.

The new Park Assist feature is available on all vehicles powered by AMD Ryzen chips. Tesla started adding AMD Ryzen chips in early 2022, but you can confirm your vehicle’s infotainment chipset by navigating to Controls > Software in the vehicle and tapping on Additional Vehicle Information. Here, you’ll be able to see if your vehicle has the Intel Atom chip or the AMD Ryzen chipset.

For vehicles with Intel chipsets, your car will display distances to objects using its ultrasonic sensors instead of a 3D visualization of the objects on the screen.

Enhanced Autopilot (EAP)

Enhanced Autopilot was a purchase option and even a subscription feature available in some regions. However, it is no longer available for purchase in North America, but it is still available for those owners who previously purchased it. For owners who have purchased EAP, it is also still available.

Enhanced Autopilot adds some convenience features on top of the Basic Autopilot functionality that improves highway driving and helping out in parking lots.

EAP was previously available for $6,000 USD or $7,800 CAD.

Auto Lane Change

Auto Lane Change is just what it sounds like. While on Autopilot and on a multiple-lane road or highway, Autopilot will automatically change lanes to maintain the set speed, if possible. This means it will switch lanes to pass other cars on the road that are driving slower than your set speed limit.

Definitely a great convenience feature for road-tripping.

Navigate on Autopilot

Navigate on Autopilot is an enhancement for Autopilot on highways, taking Auto Lane Change up another notch. It lets your Tesla take control and manage on-ramps and off-ramps, and most importantly, it will change lanes for you to make sure your vehicle is in the correct lane for you to get off the correct exit, onto the next highway or move away from an exit-only lane. This is an excellent feature in a bigger city that you may be unfamiliar with, as it makes sure you’re in the correct lane to stay on your route.

Navigate on Autopilot will automatically signal and take the off-ramp to your navigation destination, handing over control to the driver near the end of the onramp.

Navigate on Autopilot will both visually and audibly ping the driver to take over once it has reached the end of the off-ramp, and the driver is expected to take control for the turn off the ramp. Auto Lane Change will put you in the correct turn lane before it pings for control takeover.

Once again, similar to Autosteer, Navigate on Autopilot is not able to manage traffic controls or turns, which means it will require the driver to take over once it is done. Just like every other autonomy feature from Tesla today, this requires driver supervision.

Autopark

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With EAP, your Tesla can reverse park or parallel park itself, thanks to Autopark, which is now available for Tesla Vision vehicles. Autopark was recently revamped, making it faster and more reliable. Tesla is also expected to add Park Seek as part of EAP in a future update.

When driving slow enough (below 6mph or 10km/h), parking spots will appear on the visualization, letting you select a spot. The vehicle will ask to be brought to a stop, and then you can tap the screen (or confirm with the buttons on a Model S or X), and the vehicle will begin parking.

Enjoy this moment as your Tesla parks itself hands-free. While you can release the seatbelt during Autopark, you should always supervise your Tesla while it is moving on its own, as it is not perfect and will occasionally need the driver to intervene.

Summon

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Summon has two options; one allows you to move the vehicle backward or forward using the Tesla app on your phone, enabling you to get in and out of tight parking spaces like those in a parking garage. Summon has a maximum distance of 39 ft (or 12m) in either direction of the starting position.

The other option, Smart Summon, will bring your car to you in a parking lot or driveway, letting it automatically switch between forward and reverse, make turns, and stop for obstacles. For Smart Summon to function, you need to be within approximately 215 ft (65m) of your vehicle. It will exit the parking spot and then drive towards you.

However, Smart Summon is currently limited to vehicles with ultrasonic sensors (USS). Tesla has already started rolling out a new version of Smart Summon called Actually Smart Summon that will make it available on all Tesla vehicles. Actually Smart Summon is currently available in North America on recent builds of FSD, but it’s expected to be more widely available later this year.

Summon is in beta and should be carefully supervised. We highly recommend that you do not use Smart Summon in a busy parking lot until the Actually Smart Summon update is deployed.

Full Self Driving (Supervised)

FSD (Supervised) is the current top-end package for Tesla’s autonomy. It is available with a monthly subscription in North America at $99 USD / $99 CAD, or for purchase at $8,000 USD or $11,000 CAD. The United States also has an annual subscription option that offers a slight discount, but that option is currently unavailable in Canada.

FSD allows your Tesla to drive from point A to point B almost entirely on its own, with the driver supervising it. One thing to keep in mind is that the software stack that governs FSD on city streets and the one that governs Autopilot on the highway is fairly different, with city streets including more advanced capabilities. However, this is expected to change in the near future as Tesla adds support for the highway to its FSD tech stack.

We recommend subscribing for a month and trying it out – or you may have already received a free month of FSD as a trial.

The FSD package includes everything in Enhanced Autopilot, city street driving and a few additional options, such as Green Traffic Light Chime, which has the vehicle beep when a traffic light turns green if your vehicle hasn’t moved in about a second.

FSD (Supervised)

FSD V12, also known as FSD (Supervised), is the latest version of Tesla’s Full Self Driving package. It is capable of tackling most situations that a driver can encounter. However, as with all autonomy products, it isn’t perfect and needs driver supervision – hence the “Supervised” in the name.

FSD is fairly simple for the user – set a navigation destination and tap down once on the right steering stalk, and FSD will take over driving. You must always remain attentive of the vehicle and be prepared to stop it in a dangerous situation.

FSD will stop for stop signs and traffic lights, maneuver between lanes as necessary, and take all the turns you need to take. It can handle encountering things like road construction, 2-way stops, 5-way intersections, and much more with the driver supervising it. For the most part, with recent versions of FSD, you won’t need to intervene often while driving.

FSD will take you to your destination, and depending on where that is, it may bring you directly to your driveway or right into a parking lot, where you can then enable Autopark to park your vehicle.

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Tesla's New Model Y to Receive Adaptive Headlight Support in U.S. Soon

@DriveGreen80167 on X

In the latest episode of Jay Leno’s Garage, Tesla’s VP of Vehicle Engineering, Lars Moravy, confirmed that the new Model Y will feature adaptive headlights.

As Moravy was talking about the updated headlights in the vehicle, which now sit a few inches lower than before, he stated that in a couple of months, Tesla will add adaptive headlights in the U.S.

While Tesla has already introduced adaptive headlights in Europe and the Indo-Pacific, the feature has yet to make its way to North America.

Originally delayed in the U.S. due to regulatory issues, manufacturers have been able to implement adaptive headlights since mid-2024. Meanwhile, competitors like Rivian and Mercedes-Benz have already rolled out their own full matrix headlight systems, matching what’s available in other regions.

Update: This article has been updated to clarify that adaptive headlights will indeed be launched in the U.S., shortly after the vehicle launching in March.

Adaptive Headlights

Back in October 2024, Lars confirmed that matrix headlight functionality was just around the corner for North America. However, as we enter 2025, it’s still unclear when Teslas with matrix headlights will receive the feature.

Currently, Tesla in North America supports adaptive high beams and automatic headlight adjustment for curves, but full matrix functionality has yet to be rolled out. Meanwhile, matrix headlights are already available in Europe, where they selectively dim individual beam pixels to reduce glare for oncoming traffic and adapt to curves in the road.

It was surprising that matrix functionality wasn’t included in the comprehensive 2024 Tesla Holiday Update. This feature would likely improve safety ratings, so we can only assume Tesla is diligently working to secure regulatory approval.

Adaptive Headlights on Other Models

Lars didn’t confirm whether the refreshed Model Y comes with the same headlights as the new Model 3 and the Cybertruck, instead simply calling them "matrix-style” headlights.

The headlights on the new Model Y appear very similar to those available in the 2024+ Model 3, possibly meaning these other models will also receive adaptive headlight capabilities in the next couple of months.

For vehicles with older-style matrix headlights, it’s unlikely that adaptive beams support will launch at the same time, but they will hopefully become available soon afterward.

You can check our guide here to see if your vehicle includes matrix headlights.

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Tesla Starts Underwriting Its Own Insurance: Will They Insure Their Own Robotaxis?

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For the first time since launching Tesla Insurance in 2019, Tesla will begin underwriting its own policies, starting in California.

Tesla Insurance originally debuted in California and has since expanded to several U.S. states. Until now, policies were underwritten by State National, a subsidiary of the Markel Insurance Group. However, Tesla is now transitioning to fully in-house underwriting, beginning with its home state.

As part of this shift, California Tesla Insurance customers who receive an in-app offer to switch will be eligible for a one-time 3% discount on their next term’s premium—covered entirely by Tesla Insurance.

What is Underwriting

Underwriting is the process an insurance company uses to assess risk and determine whether to offer coverage, at what price, and under what terms.

Insurers evaluate factors such as driving history, credit score, age, vehicle type, and location. In Tesla’s case, vehicle driving data (not available in California) also plays a key role in risk assessment. These factors help classify drivers into risk categories, which influence their base premium.

From there, coverage limits, deductibles, and policy inclusions or exclusions can further adjust the final premium up or down.

Robotaxi and Other Benefits

At first glance, underwriting insurance might seem like a complex and costly process for Tesla. However, there are several compelling reasons why this move makes sense.

Insurance Income: Insurance is a highly profitable industry. Companies set rates based on risk, offering lower premiums to safer drivers and higher rates to riskier ones. This not only maximizes profitability but also incentivizes safer driving behavior, reducing overall claims.

Data Advantage: Tesla collects vast amounts of driving data through its Safety Score system. While California doesn’t allow Safety Score to impact premiums, Tesla can still use this data in the underwriting process to refine risk assessments and pricing for its vehicles.

Control Over Repair Costs: By underwriting its own policies, Tesla gains direct control over repairs and total loss decisions. This allows them to dictate when, where, and how repairs are done, optimizing costs for parts, labor, and service while ensuring vehicles are fixed according to Tesla’s standards.

FSD-Driven Discounts: Tesla has already begun offering insurance discounts for drivers using Full Self-Driving (FSD). By underwriting its own policies, Tesla could expand these incentives, potentially offering greater discounts to frequent FSD users in the future.

Preparing for Robotaxi: Perhaps the biggest long-term reason for this shift is the June launch of the Robotaxi fleet. How will Tesla insure these vehicles? The answer is simple—by underwriting its own policies and assuming liability.

Tesla’s decision to underwrite its own insurance isn’t just about cutting out middlemen—it’s a step toward lowering costs, increasing profitability, and preparing for the future of autonomous driving, a risk many insurance companies may be unwilling to make.

Further Expansion

This could be a strong sign that Tesla is preparing to expand its insurance offerings now that it has taken on the underwriting process itself. In July 2024, Tesla hired a former GEICO insurance executive to lead the expansion of Tesla Insurance and help reduce costs—a move that now appears to be paying off.

Rather than a traditional expansion, Tesla has instead made a bold move by bringing underwriting in-house, something few expected. However, it aligns with Tesla’s strategy of vertically integrating and controlling key aspects of its business, whether in manufacturing, software, or now, insurance.

If this pilot program proves successful, it could pave the way for Tesla Insurance to launch in more states—and potentially even other countries. With 2025 shaping up to be a pivotal year, we may see Tesla accelerate its insurance expansion sooner than expected.

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