Autopilot generations (AP1 → AP4.1): what you have and what's different

• AP1 (09.2014+) — Mobileye, 1 forward camera + radar + ultrasonic sensors. EAP-level features: highway auto-steer, auto lane change, auto-park, Summon.
• AP2 (10.2016+) — 8 cameras, Tesla software running on the Nvidia Drive PX 2 computer (Tesla's own chip came only with AP3); early cameras had mediocre color reproduction.
• AP2.5 (~08.2017) — added a second compute chip / margin for additional cameras/sensors, improved reliability.
• AP3 (2019+) — FSD computer, full FSD support (with license and map/region restrictions).
• AP4 / 4.1 (2023+) — new cameras (the Phoenix HD radar — only on Model S/X; Model 3/Y with HW4 come without radar), significantly faster SoC; unit failures hit the later revision produced from 11.2024 (nicknamed "AI4.1" by the community) — NHTSA recall 25V-002 (~239k cars); the fix is OTA 2024.44.25.3+ plus replacement of failed units, corrected in production since 16.12.2024.

How to know what you have

Via Controls → Software → "Additional Vehicle Information" — the "Autopilot computer" line (renamed "AI Computer" since firmware 2026.2.9); also by production dates and by part numbers of units/cameras.

Links

• Generation history and dates: https://en.wikipedia.org/wiki/Tesla_Autopilot
• HW version comparison: https://tff-forum.de/t/enhanced-autopilot-stufe-2-beim-model-s-plaid-mit-hw-4/290230
• Mobileye → Tesla context: https://tff-forum.de/t/fsd-supervised-unsupervised-und-kuenftige-tesla-versionen-teil-3/355122/1419
• NHTSA recall 25V-002 on HW4 computers: https://static.nhtsa.gov/odi/rcl/2025/RCLRPT-25V002-6930.PDF
• How to check your computer version (Tesla Support): https://www.tesla.com/support/full-self-driving-computer