In early 2023, Tesla launched its FSD Hardware 4.0 – now known as AI4 – an improved version of Hardware 3 with various advantages. This hardware launch initially came off to a rocky start with FSD and Autopilot not being available to freshly delivered vehicles.
Today though, AI4 is the next step as Tesla strides towards full autonomy. While Tesla hasn’t abandoned HW3 or declared it as legacy yet – and doesn’t seem to plan to, it’s still important to be able to figure out what hardware your vehicle has. This is especially true for those who have paid for, or are subscribed to FSD – as it seems that going forward, AI4 will receive major FSD updates before hardware 3, which will require optimization.
So, let’s go over what AI4 offers in terms of improvement, the fact that there is no retrofit path from Hardware 3, and finally, a few easy ways to tell FSD Hardware 3 from Hardware 4/ AI4.
HW4 / AI4 Improvements
AI4 brought along several improvements, including new cameras, new electrical and wiring harnesses, and most of all – improved processing power.
The new cameras bring improved resolution for better details. The rear camera on AI4 has a resolution of 1448x938 vs 1280x960 on Hardware 3. However, there’s a much larger differences in the front cameras. HW4/AI4 has a resolution of 2896x1876 while HW3 has a resolution of 1280x960. That’s a huge improvement in quality - additionally, that telltale red tint that they have ensures better performance in low-light conditions. The video below compares the difference between HW3 vs HW4.
Musk previously said that HW4 is about 3-5x faster than hardware 3, although all of that compute power isn’t being utilized yet. We’ll likely see the full power of HW4 come into play with the divergence of HW4 later this year.
How to Tell If You Have HW3 or HW4 / AI4
There are a few easy ways to tell if you have Hardware 3, or AI4. Sadly, Tesla doesn’t provide any information in the app or vehicle that simply tells you which FSD hardware you have, so here are a few ways to tell them apart.
Note the telltale red glint of the HW4 cameras
Not a Tesla App
Delivery Date
The first is based on your model and delivery date. If you purchased Model S or X, you’ll likely have AI4 if you purchased after March 2023. If you have a Model Y, it’s after late May 2023 for vehicles made in the United States. The updated 2024 Model 3 has HW4, but if you have a 2017-2023 Model 3, you’ll have Hardware 3.
Red Camera Lenses
Next, if you’re not sure of the delivery date of your vehicle, or want to confirm, take a look at the vehicle itself. HW4/AI4 has cameras with red lenses – the easiest place to see this is on the front cameras – where there will be 2 red lenses and one black (fake) lens. AI4 got rid of the 3rd front-facing camera since the cameras now have a higher resolution.
The repeater cameras are also slightly different, with the same red tint, but include a smaller and narrower turn indicator.
HW4 (top) and HW3 (bottom) repeater cameras
Not a Tesla App
No Retrofit to HW4
Elon Musk and Tesla have confirmed that unlike AP 2.5 or AP 2, Tesla does not intend to offer a retrofit for older vehicles. This isn’t a surprising move, especially given the fact that there is an entirely new wiring and cooling harness for the compute unit in AI4.
This, in turn with AI4’s different form factor, means that it isn’t feasible to upgrade HW3 vehicles to AI4. A retrofit would be a complex and expensive task that would likely require building a custom solution that would fit into HW3 vehicles. It also comes with other complications such as overwhelming Tesla Service. Instead, Tesla will continue to do it the software way – by optimizing and updating the FSD models to perform well on Hardware 3.
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As Tesla update 2024.44.3 continues to roll out, we’re seeing more features in this update. While the update doesn’t include many new feature, it either improves existing features or rolls out a feature to new regions. Actually Smart Summon is rolling out to Europe, although with more strict restrictions. AutoPark is also rolling out to the UK and several other countries for the first time, and we’re now seeing improvements to Autopark arriving in North America and Europe.
As Tesla’s 2024.44.3 update continues to roll out, more features in the update are being revealed. While this update doesn’t introduce many entirely new features, it does refine existing features or expand the reach of others.
Notably, Actually Smart Summon is now rolling out in Europe, albeit with stricter regulations. Vision-based AutoPark is debuting in the UK and several other countries, while North America and Europe are receiving updates that further improve Autopark’s functionality.
Improvements to Autopark
As part of the same update, Tesla is making a batch of improvements to Autopark in Europe and North America. In the release notes, Tesla states that Autopark is receiving performance and visualization improvements. Unfortunately, Tesla doesn’t go into more detail here, but it sounds like these improvements could be the faster and more accurate Autopark enhancements Ashok Elluswamy talked about earlier this year.
Those improvements are expected to make Autopark more reliable, let it pick spots faster, move faster into them, and also shift between forward and reverse faster. The improvements would also let the vehicle park in tighter spots than before, with more accurate vision.
We’ll have to wait and see how this improved Autopark compares to the current version.
Your vehicle's Autopark performance and visualizatons have been improved.
Autopark in the UK and Other Countries
Countries in Europe that previously didn’t have access to Vision-Based Autopark, including the UK, will now have access to the new Autopark for the first time with update 2024.44.3 and later. This includes countries such as the UK, Ireland and Malaysia.
While these countries are receiving Autopark, it’s not clear whether it includes the Autopark improvements that other regions are receiving. The release notes don’t include the Autopark Improvements section in these countries, but that could be due to Tesla simplifying the release notes for these countries that are receiving Autopark for the first time.
With Autopark finally introduced in these regions, it’ll be the first time vehicles without ultrasonic sensors are capable of Autopark. Vision-Based Autopark is far more reliable, faster, and easier to use in more situations than the older USS-based solution.
Tesla has finally released Actually Smart Summon for Europe and the Middle East, albeit with several major restrictions. However, it's definitely a first step towards unlocking autonomy in Europe.
Europe’s autonomy laws are governed under UNECE regulation R79, which regulates autonomous features and is extremely restrictive in how autonomy can be used and applied. For example, the previous revision (Rev 4) of R79 required drivers to approve, with physical action, every decision made by an Advanced Driver Assistance System (ADAS) feature.
Limited Actually Smart Summon
Under Rev 5 of UNECE R79, Actually Smart Summon can actually function, but only to a limited degree. Owners have to be within 6 meters (19.5 feet) of the vehicle at all times, making it barely more usable than Dumb Summon (can we coin the term Dummon?).
In addition, you can only travel a total distance (under the regulation) of 100 meters (328 feet) - which means you’d have to run beside the vehicle or be inside it, rendering it mostly useless. However, Tesla has, for some reason, limited the total summon distance to 15-20m (50 to 65 feet) of travel. These limits are in sharp contrast to the distance limits of A.S.S. in North America.
Getting UNECE R79 Updated
Tesla has been hard at work getting R79 repealed or updated to allow for further autonomy after running demos for senior politicians earlier in the year. Back in March, we reported that updating DCAS regulations in Europe would help get FSD approved - but that covered driver assistance, not autonomy. In fact, Tesla was testing FSD with validation vehicles as far back as February of this year, hinting that Supervised FSD may be getting close.
Tesla FSD Validation Vehicle seen in Munich, Germany 👀
While FSD has a clear path forward in Europe, semi-autonomous features like Actually Smart Summon and Banish don’t just yet. The updated DCAS regulations do not cover semi-autonomy or autonomy and require clear interfaces, guidelines, and controls for drivers to be informed and engaged at all times.
It’ll take another big swing for Tesla to get autonomy regulations changed to allow for more semi-supervised autonomy like Actually Smart Summon - much less fully autonomous products like the Robotaxi Network, Cybercab, and Robovan.
