FSD Beta 10.4 Improvements with images and video

By Nuno Cristovao

Tesla is slowly rolling out FSD Beta 10.4 to existing beta testers. Tesla hopes to expand the beta to users who have a Safety Score of 98 or higher in the coming days. Beta 10.4 builds upon FSD Beta 10.3 in several key areas.

Tesla now displays speed bumps
Tesla now displays speed bumps
@HisandHersTesla/Twitter

The first is the crucial and common maneuver known as an unprotected left turn, where your car may have a green light, but needs to wait for oncoming traffic to pass before taking a left turn. Not only does a maneuver like this leave your car vulnerable, but it can also be complicated to complete.

With 10.4, Tesla improved high speed object detection and now allows for faster acceleration across certain roads. These improvements appear to be helping in making more reliable unprotected left turns.

In James Locke's video below, he shows off an impressive unprotected left turn in this newest beta. Not only does the car wait for oncoming traffic to clear, but the car starts slowly accelerating before the vehicle clears it's path, so that the car is up to speed by the time vehicle passes. It's much more natural and human-like behavior.

FSD Beta's visualizations are a big improvement over the visualizations in the public builds, partly due to object permanence.

The software is able to tell the difference between an object moving or disappearing versus it being hidden by another object. If there was a person in front of your car, but then a vehicle slowly drove by, between your car and that person, we'd likely conclude that the person is still there, just hidden behind the car.

That's what Tesla is doing now, not only with visualizations, but what the car sees as its surroundings. Once the car sees an object, it records it's time and position in the world in a semi-permanent state. Even when the car can't see the object any longer, it still knows it's there.

Sure, this could lead to some errors, but it often does in humans as well. In the example above, where the person was obscured by the car, it's possible the person got into another car or left the scene without us seeing because the car was blocking our view.

In this update, we're seeing more complete visualizations thanks to Tesla drastically improving the detection of VRUs (vulnerable road users) such as pedestrians, bicyclists and motorcycles by using a next generation auto labeler.

You can read the complete technical release notes for the FSD Beta 10.4.

New Visualizations

Visualizations also received a small update. The car was already detecting and slowing down for speed bumps, but speed bumps are now shown in the visualizations as well.

Crosswalks also received a minor visualization update. They used to be depicted as two white parallel lines, but they now appear as a filled in dark area on the screen. They're a little more obvious and there are less jagged lines, but they also don't exactly look like crosswalks either. If Tesla added the thick stripes crosswalks usually have, that could prove useful.

FSD Beta crosswalks
FSD Beta now displays clearer crosswalks

There are other smaller improvements in this beta such as improved emergency vehicle detection, improved VRU relevance by using the vehicle's intended path and more.

Improved Warnings

Tesla has greatly improved driver monitoring by not relying solely on steering wheel tension and instead using the interior camera. Tesla apparently started included the interior camera in Model 3s apparently for a robotaxi future, but it appears to have paid off for FSD instead. Relying on steering wheel tension was unreliable and an annoyance for drivers.

With the cabin camera Tesla can closely monitor where the driver is looking and constantly checking whether they're paying attention. An inattentive driver will receive an instant warning to pay attention if they're looking down, staring at their phone or looking to the side if Autopilot is activated.

FSD Beta warning
FSD Beta warning
DCCWrules/Twitter

Early last month Tesla starting enforcing stricter rules when using FSD, where they will kick out beta testers if they're caught not paying attention several times.

In this beta, Tesla appears to have expanded these warnings to being on-screen as well, instead of relying on an email message. These warnings will be crucial to Tesla keeping the FSD Beta program and remaining accident free.

What's Not Included Yet

We know two big features are coming to FSD soon, but they're not yet included in this 10.4 update. The first is using a single stack for city and highway driving. Highway Autopilot is still completely separate and the same as the public build.

We're also anticipating the feature that will give the vehicle the ability to go into reverse. If the vehicle creeps forward for better visibility and decides it's unsafe to proceed, it'll back up to move out of the way of others.

Elon first anticipated this feature to come in FSD Beta 10.1, but we haven't seen it in FSD builds yet.

It's possible we may see both of these features added in the next major FSD release v11, which may come as the next FSD Beta. FSD Beta 10.4 also includes Sentry Mode Live Access for those with a Model 3, Model Y or the new Model S and X.

Norway Approves Tesla’s FSD Testing on Public Roads; Potential for Europe-Wide Deployment

By Karan Singh
Not a Tesla App

According to filings found by Kees Roelandschap on X, Tesla has obtained a 2-year exemption from UNECE autonomy regulations to run FSD Supervised on public roads in Norway. This marks one of the first positive developments for regulations and autonomy in Europe — great news for European customers.

Previously, European transportation agencies stressed additional caution and requested more time to legislate, further delaying the widespread UNECE regulation changes for autonomous vehicles.

Norwegian FSD - Employees Only

Following the recent approval from the Norwegian Road Authority, Tesla will be permitted to use its Supervised vehicles on public roads in a testing capacity. This exemption does not yet apply to customers, so we will have to wait and see how testing progresses.

Tesla will specifically be allowed to run FSD V13 and its derivative builds (meaning AI4 vehicles only) with automated steering and speed controls on EU-registered and approved vehicles.

Tesla will also be required to have Tesla-trained drivers (employees) conduct the testing. There is no specific policy in place that enables the use of FSD for customers at this time. However, as testing is conducted and bureaucratic hurdles are overcome across various transportation departments, Tesla may be able to extend the offer to European customers. According to Tesla’s latest earnings call, the company still plans to release FSD in Europe by the end of the year.

Tesla has already begun testing in the Netherlands, showing off FSD’s capabilities in Amsterdam.

Article 39 Exemption

The UNECE can grant exemptions for innovative technologies that move faster than legislation under Article 39. However, Tesla requires the backing of a national ministry of transport to bring this to the UNECE’s attention. The next round of voting on critical issues is expected on May 12, 2025, which may not leave Tesla much time to present its findings to UNECE.

We don’t expect Tesla to receive authorization immediately. It may take several weeks or months of testing from the Netherlands or Norway teams before one of the two countries is willing to support Tesla’s exemption bid.

However, if Tesla achieves an Article 39 exemption, it could allow Tesla to roll out FSD to customers across Europe, provided there are no country-level exemptions.

Tesla Reintroduces FSD Transfers in North America

By Karan Singh
Not a Tesla App

Following customer requests, Tesla has once again returned FSD Transfers for North America. This comes after some new details we received on FSD Supervised and Unsupervised at the recent Q1 2025 Earnings Call.

FSD Transfers

This latest round of FSD transfers doesn’t have a specific time limit - so if you’re in the market for a new vehicle and were worried about transferring FSD from a HW3 vehicle - now is the best chance.

This transfer opportunity is applicable for any new vehicle purchases, including the Model S, 3, X, Y, as well as the Cybertruck. The only vehicles it doesn’t apply to are the Foundation-Series Cybertruck or a Launch-Series Model Y, which already come with FSD included.

If you’re conducting an FSD transfer, you’ll need to reach out to your Tesla delivery coordinator through the Tesla app to confirm you’re eligible and to get the process started.

Note that once you take delivery, FSD access is removed from your older vehicle, regardless if you plan to trade in your vehicle or keep it.

Canada and Mexico

For those in Canada and Mexico, there’s some good news. This opportunity is available for customers in those countries as well, however, new vehicle orders are currently paused in Canada and Mexico for unknown reasons.

Running Offers

There are also several other offers running in North America, with the country flags indicating which countries their available in:

0% Financing on new Model 3 Orders (60mo, 0.99% for 72mo) 🇺🇸

Deep Blue Metallic and Pearl White are currently free on a new Model 3 Performance 🇺🇸

Original Model Y Owners are receiving $2,000 off the purchase of a Refreshed Model Y 🇺🇸 🇨🇦 🇲🇽

Free Supercharging on the Model S and Model X 🇺🇸 🇨🇦 🇲🇽

Free Supercharging on the Foundation-Series Cybertruck 🇺🇸 🇨🇦 🇲🇽

Inventory Vehicle Discounts 🇺🇸 🇨🇦 🇲🇽

Latest Tesla Update

Confirmed by Elon

Take a look at features that Elon Musk has said will be coming soon.

More Tesla News

Tesla Videos

Latest Tesla Update

Confirmed by Elon

Take a look at features that Elon Musk has said will be coming soon.

Subscribe

Subscribe to our weekly newsletter