hardware retrofit

Tesla Autopilot, an advanced driver-assistance system ("ADAS") for Tesla vehicles, uses a suite of sensors and an onboard computer. It has undergone several hardware changes and versions since 2014, most notably moving to an all-camera-based system by 2023, in contrast with ADAS from other companies, which include radar and sometimes lidar sensors.
Initially, the ADAS used a combination of cameras capturing the visual spectrum, forward-facing radar, ultrasonic proximity sensors, and a Mobileye EyeQ3 computer as Hardware 1, fitted to Model S vehicles starting in October 2014. After Mobileye ended its partnership with Tesla in 2016, Tesla began shipping cars equipped with an Nvidia Drive PX 2 computer and an increased number of cameras as Hardware 2. In 2019, Tesla shifted to a computer using a custom "FSD Chip" designed by Tesla, branded as Hardware 3. Starting in 2021, Tesla stopped installing the radar sensor in new vehicles, and the ADAS was updated to drop radar support. In 2022, Tesla announced it also would drop support for the ultrasonic sensors, moving the ADAS to an all-visual system. The most recent sensor and computer implementation is Hardware 4, which began shipping in January 2023.

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