AP, AP1, AP2, EAP, FSD - Differences/Relations/Official Documentation?

AP, AP1, AP2, EAP, FSD - Differences/Relations/Official Documentation?

Disclaimer: Non-Owner, no EV experience, Reserved Model 3 for "Late 2018" delivery. I have nothing else to do until then so, I guess I have a lot of time figure out. But any help is appreciated.

I am trying to gather as much information as possible on autonomous driving before I make a switch to a CPO Model S. I came across multiple words(AP, AP1, etc..) that have been used in contradicting ways quite a lot. Is there an official document that lists these and highlights important information such as release date, features, hardware requirements etc? A wiki of some sort.

So far, I figured the below (Call me a fool if I'm wrong)

AP = AP1 < AP2 = EAP < FSD

Few questions I am struggling with:

1) At what times were each of those released into the market so I can tie it back to the car model?
2) Hardware requirements go up as we move up the chain but I am not sure where a 2016 model S falls. Does it have the hardware for FSD? or just AP2?
2) Elon Musk says the hardware will be upgraded if FSD does not work in current models, is this only computing or cameras and other sensors too?
3) Can a Non AP (I think before 2013) CPO Model S be upgraded with hardware for at-least AP1 to work?
4) Where does TACC fit in all this? Is TACC EXACTLY the same as adaptive cruise control?
5) Questions...questions..questions..

burdogg | August 10, 2017

So far you have things correct:

AP is AP1 - it got the name AP 1 when they came out with the second AP (now dubbed AP 2).

AP 2 is EAP (so the true terminology should be Autopilot (AP1) and Enhanced Autopilot (AP2). FSD is on top of EAP (can't get FSD with AP 1)

AP 1 hit the cars I believe sometime in 2015 - someone can correct me - there may be some 2014 models with it as well. EAP (AP2) are on cars delivered November 2016 time frame (It was announced Mid Oct that all cars being produced right then would have the new AP hardware)

So a 2016 model more than likely has only AP Unless it was produced Nov time frame. How you can tell? Ap 2.0 has 8 cameras (AP1 only has 1 camera). AP 2 will have cameras on the side of the car - the B pillar area, and cameras in the Tesla emblem on near the front wheels area. The same hardware for EAP is for FSD too - FSD just needs more software and vaildation.

2) we don't know - it is supposedly right now if needed, only computer. But no one knows for sure if some other hardware would be needed.

3) No there is no upgrade path for Non AP car, and side note, there is no upgrade path from AP 1 to AP 2.

4) TAAC is the same as adaptive cruise control

Anything else you want to know? :)

burdogg | August 10, 2017

Also note - Tesla does not do model years - they change things as they come. So someone with a car bought in April 2016 could have a completely different car of someone bought in Nov 2016. Tesla does not wait to put new things in the cars. So model year is not to be used, more of when was it produced :)

hoffmannjames | August 10, 2017

All Teslas manufactured after Sept 2014 had the first gen hardware (HW1) capable of autopilot (AP1).
AP1 was then released Oct 9, 2014. SO any car manufactured before Sept 2014 cannot do autopilot at all.
After Oct 2016, all Teslas had the second gen hardware (HW2) capable of enhanced autopilot (AP2 or EAP) and theoretically capable of full self-driving, FSD. Cars manufactured between Sept 2014 and Oct 2016 can do the AP1 but cannot do AP2. Enhanced autopilot was released Feb 2017.

JuJo0 | August 10, 2017


And/or when it was delivered. :)

burdogg | August 10, 2017

hoffmannjames - are you sure on the actual release date of it going live to the cars (AP1?) Not that that matters - I just got my S Nov 2015 and my understanding was it had just barely become active on the cars. My understanding again was that it took a year from the announcement of AP hardware being on all cars from x date to the actual activation of it.

burdogg | August 10, 2017

( I ordered first week of October and AP was not working yet - in fact I know that as I test drove one that weekend. TAAC worked, but Autosteer was not available yet)

hoffmannjames | August 10, 2017

@burdogg I tried to post a link to my source but it triggered the spam filter. I got my info from the tesla wiki.

hoffmannjames | August 10, 2017

from the wiki:
Autopilot was first offered on October 9, 2014, for Tesla Model S, followed by the Model X upon its release.[4][5] Autopilot was part of a US$2,500 "Tech Package" option. At that time Autopilot features included semi-autonomous drive and parking capabilities.[6][7][8] Initial versions of Autopilot were developed in partnership with the Israeli company Mobileye.[9] Tesla and Mobileye ended their partnership in July 2016.[10][11]

In October 2015, Tesla released software package version 7.0 with Autopilot to its customers.[12] In December 2015, Tesla announced that it will remove some self-driving features to discourage customers from engaging in risky behavior. Autopilot Firmware 7.1 made those changes and includes remote parking technology known as Summon that can park and "unpark" without the driver in the car.[13][14][15]

On August 31, 2016, Elon Musk announced Autopilot Firmware 8.0, that processes radar signals to create a coarse point cloud similar to Lidar to help navigate in low visibility conditions, and even to 'see' in front of the car ahead.[16][17] Autopilot, as of version 8, uses radar as the primary sensor instead of the camera.[18] In November 2016, Autopilot 8.0 was updated to have a more noticeable signal that it is engaged and it requires drivers to touch the steering wheel more frequently, otherwise Autopilot will turn off.[19] By November 2016, Autopilot had operated actively on hardware version 1 vehicles for 300 million miles (500 million km) and 1.3 billion miles (2 billion km) in shadow mode.[20]

As of October 2016, all Tesla vehicles come with the necessary sensing and computing hardware, known has Hardware version 2 (HW2), for future fully autonomous operation (SAE Level 5), with software being made available as it matures.[21] The company offers various free/extra-cost options for enabling Autopilot-associated features/services. Autopilot on hardware version 1 cars is available for US$2,500 ($3,000 after delivery) and for HW2 cars, Autopilot is available as "Enhanced Autopilot" for $5,000 ($6,000 after delivery) and additionally full self-driving capability is $3,000 ($4,000 after delivery).[22]

The first release of Autopilot for HW2 cars was in February 2017. It included adaptive cruise control, autosteer that was enabled on divided highways, autosteer on 'local roads’ up to a speed of 35 mph or a specified number of mph over the local speed limit.[23] Firmware version 8.1 for HW2 began in June 2017 that has many new features including a new Autopilot driving-assist algorithm, full-speed braking and handling parallel and perpendicular parking.[24]

Hardware 1[edit]
Vehicles manufactured after late September 2014 are equipped with a camera mounted at the top of the windshield, forward looking radar (supplied by Bosch)[26][27] in the lower grill and ultrasonic acoustic location sensors in the front and rear bumpers that provide a 360-degree view around the car. The computer is the Mobileye EyeQ3.[28] This equipment allows Model S to detect road signs, lane markings, obstacles, and other vehicles. Upgrading from Hardware 1 to Hardware 2 is not offered as it would require substantial work and cost.[29]

Hardware 2[edit]
Hardware 2, included in all vehicles manufactured after October 2016, includes an Nvidia Drive PX 2[30] GPU for CUDA based GPGPU computation.[31][32] Tesla claimed that Hardware 2 provided the necessary equipment to allow full self-driving capability at SAE Level 5. The hardware includes 8 surround cameras and 12 ultrasonic sensors, in addition to forward-facing radar with enhanced processing capabilities.[21] The Autopilot computer is replaceable to allow for future upgrades.[33] The radar is claimed to be able to observe beneath and ahead of the vehicle in front of the Tesla; the radar can see vehicles through heavy rain, fog or dust.[34]

burdogg | August 10, 2017

Yep - that is correct - it was Oct 2015 that the actual autosteer made its debut - the 7.0 version. It is all coming back to me as my car came with 7.0 and was ready to go from the start.

Darkon | August 10, 2017

Additionally, it was mentioned in the last day or so that HW2.5 (also referred to as HW2.1) is now being included in cars being delivered now and onward. Sounds like the main differences in the processing power of the swappable boards used for EAP/FSD. I didn't hear anything about changes to the sensors.

While this might make you think that this could segment the EAP/FSP features based on whether you have HW2.0 or HW 2.5, the Tesla rep seemed to indicate that the would upgrade the boards if that was least in the M3 since the board was positioned in an easily accessible location under the glove box. I'm not sure where it is in the S/X.

The big question for me is IF the HW 2.0 boards need to be swapped out for the upgraded HW 2.5 versions at some point in the future, what...if any...costs will be associated with that upgrade? I'm guessing that if you have already purchased EAP/FSD prior to HW 2.5 becoming a requirement, then the upgrade would be free (and there would be a lot of upset customers, and possibly lawsuits, if it wasn't free). But if you haven't already purchased EAP/FSD, then they might increase the costs of EAP/FSD to cover the hardware upgrade (whether they explicitly say that is the reason for the increased cost of EAP/FSD is another matter).

The switch to HW 2.5 is a bit concerning/confusing because they've been advertising that support for FSD is "built into every car". This should be simple for M3's because they will all have HW 2.5, but for the Model S/X...some will have HW 2.0 and some will have HW 2.5, and it is possible the advertising/specs might have been different at the time HW 2.0 was being sold.

kgr99 | August 10, 2017

Wow!! Thanks all. That's a lot of information for a newbie to digest. I will take sometime and study hard :D

Looks like there is any other dimension to the mix - HW 2.0, 2.1, 2.5

But this is quite a lot of spoon feeding. Really appreciate you guys taking the time and effort. I hope to contribute back if ever I'm able to.

Darkon | August 10, 2017

Just to be clear HW 2.5 and 2.1 is the same thing. I think the correct label is 2.5, but the Tesla rep said that 2.1 might have been a better label because the differences between 2.0 and 2.5 aren't as big as you might think.

s7davis | August 10, 2017

that is correct 2.5 and 2.1 are the same thing. It is labeled 2.5 by the Tesla rep is down playing the patch so people don't go crazy or so people start speculating what is going on.

Vegan | November 22, 2018

This thread is helpful for anyone shopping for a pre-owned Tesla.
Just giving it a nice little BUMP :D