INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689

Issue 171, Volume 71, Number 01, May 2020

A Study on Tesla Autopilot

K. Nived Maanyu1, D Goutham Raj2, R Vamsi Krishna3, Dr. Shruthi Bhargava Choubey4
Dept. of ECE, Sreenidhi Institute of Science And Technology, Hyderabad, India

Abstract— Tesla Autopilot may well be a refined driver- Enhanced Autopilot has the following partial self-
assistance system feature offered by Tesla that has lane driving abilities: automatically change lanes without
centering, adaptative controller, self-parking, the power to requiring driver input, the transition from one freeway to
mechanically modification lanes, and jointly the flexibleness to
another, exit the freeway when your destination is near and
summon the automobile to and from a garage or parking spot.
more.[21]
As an upgrade to the base Autopilot's capabilities, the
company's stated intent is to offer full self-driving (FSD) at a Autopilot for HW2 cars came in February 2017. It
future time, acknowledging that legal, regulatory, and technical enclosed an adaptative controller, autosteer on divided
hurdles must be overcome to achieve this goal.[1] highways, autosteer on 'local roads’ up to a speed of 35
I. INTRODUCTION mph or a specified number of mph over the local speed
limit to a maximum of 45 mph.[22] Firmware version 8.1
Autopilot was 1st offered on Oct nine, 2014, for Tesla
for HW2 arrived in June 2017 adding a new driving-assist
Model S, followed by the Model X upon its release.[3]
algorithm, full-speed braking and handling parallel and
Autopilot was included within a "Tech Package" option.
perpendicular parking.[23]
At that point, Autopilot options enclosed semi-
Later releases offered electric sander lane-keeping and
autonomous drive and parking capabilities.[4][5][6]
fewer jerky acceleration and slowing. HW 2.5 was released
Initial versions of Autopilot were developed in in July 2017, appearing in cars built from August 2017.[24]
partnership with Israeli company Mobileye.[10] Tesla and
In Apr 2019, Tesla started emotional associate update
Mobileye ended their partnership in July 2016.[7][8]
to Navigate on Autopilot, that doesn't need lane
The computer code sanctionative Autopilot for the modification confirmation however will need the motive
primary time for patrons was discharged in the period 2015 force to own hands on the steering wheel.[25]
as a part of Tesla's version seven.0.[9] Software version 7.1
The car will navigate freeway interchanges on its own,
then removed some options to discourage customers from
but the driver needs to supervise.
partaking in risky behavior and accessorial Summon remote
parking technology which will move the automobile The ability is on the market to those that have
forward and back below remote human management while purchased increased Autopilot or Full Self-Driving
not a driver in the car.[10][11][12] Capability.

On August cardinal, 2016, Elon Musk announced In May 2019, Tesla provided an updated Autopilot in
Autopilot 8.0, which processes radar signals to create a Europe, to face new UN/ECE R79 regulation related to
coarse point cloud similar to Lidar to help navigate in low Automatically commanded steering function[26][27].
visibility and even to 'see' in front of the car ahead.[13][14] Driving features:
Autopilot Version 8 uses radar as the primary sensor Tesla needs operators to observe the vehicle in the least
instead of the camera.[15] In November 2016, Autopilot 8.0 times, even as the Federal Aviation Administration needs
was updated to have a lot of noticeable signals to the pilots to observe craft on autopilot.
motive force that it's partaking and it needs drivers to touch
the handwheel a lot of oftentimes.[17][18] By November Autopilot includes multiple capabilities, as well as
2016, adaptative control, lane centering and lane departure
warning.
Autopilot had operated actively on hardware version 1
vehicle for 300 million miles (500 million km) and 1.3 • Software updates
billion miles (2 billion km) in shadow mode.[19] Autopilot-enabled cars receive Autopilot software
In Oct 2016, Tesla same all vehicles came with the package updates wirelessly, an equivalent as all different
required sensing and computing hardware, called Hardware Tesla software package updates.
version a pair of (HW2), for future full self-driving.[20] • Adaptive cruise control
Tesla began to use the term "Enhanced Autopilot" to
ask hardware a pair of capabilities over hardware one.
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INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689
Issue 171, Volume 71, Number 01, May 2020

Autopilot has the power to follow another automotive, It is enabled at any speed between eighteen mph and ninety
maintaining a secure distance from it because it races and mph.
slows down.
By default, it sets the limit at the present ordinance
It will observe a second vehicle before the vehicle that it's plus/minus any driver-specified offset, then adjusting speed
following similarly as differentiate between pedestrians, consistent with changes in speed limits.
bicyclists/motorcyclists, small cars, and large SUVs/trucks.
It also slows on tight curves, on interstate ramps, and when
a car crosses the road in front of it.

Function specifications (pending incremental updates and regulatory approvals)

2016 Enhanced
2019 Full Self-Driving
2014 Autopilot Autopilot/Full Self- 2019 Autopilot
Capability
Functions Driving Capability

Hardware 2 & 2.5 &

Hardware 1 Hardware 2 & 2.5 Hardware 3.0
3.0

Hands-on feature
with limited
Yes, except when Yes, except when
Hands-Free On-
driver wants to change Yes[33] driver wants to Yes[38]
Ramp to Off-
lane.[37] change lane.[38]
Ramp for limited-
access roads

TACC-Traffic-
Aware Cruise
Control Yes[39] Yes[33] Yes[38] Yes[38]
(Smart/Adaptive
Cruise Control)

Max speed 90 mph (150 km/h)[40] 90 mph (150 km/h)[41] 90 mph (150 km/h)[41] 90 mph (150 km/h)[41]

Yes, and in the future:

Autosteer Yes[39] tighter, more complex Yes[38] Yes[38]
roads[33]

With confirmation:
Driver initiates the lane
changing signal when No. Autosteer would
Auto Lane the traffic is safe (due be disabled with a
Yes.[28] Yes.[28]
Change to ultrasonic 16 foot manual lane
limited range change.[38]
capability) then the
system does the rest.[42]

Automatic
Manually by using turn
Highway Yes[33] No. Manually only.[38] Yes[38]
signal[43]
Interchanges

Navigate On
Autopilot from No. This function
No Yes[44] Yes[38]
On-ramp to Off- costs extra.[38]
ramp

Autopark: Parallel Yes[39] Yes[33] Yes[38]

No. This function
and Perpendicular
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INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689
Issue 171, Volume 71, Number 01, May 2020

Parking costs extra.[38]

Lane Departure Yes. As Standard Yes. As Standard Yes. As Standard Yes. As Standard
Warning Option.[48] Option[49] Option[50] Option[50]

Traffic Lights and

Yes: Expected feature
Stop Signs No. This function
No No release by end of
Recognition and costs extra.[38]
2019[38]
Response

Automatic Yes: Expected feature

No. This function
Driving on City No No release by end of
costs extra.[38]
Streets 2019[38]

In future: Yes, with an

additional fee for Full
Self-Driving
Capability. The Tesla
car will be able to
drive itself,
automatically recharge Still "Yes" for unknown
Full Self-Driving No. This function
No[39] at "cable bot"-equipped future activation as
Capability costs extra.[38]
Superchargers and can described in 2016.[38]
use Parking Seek to
find a parking space all
without a driver.[33]
Hardware needs to be
upgraded to Hardware
3.0.[51]

Configuration settings management most distance, side

clearance, and bumper clearance.
• Alerts
This feature activates Homelink to open and shut garage
Autopilot alerts the driving force underneath numerous
doors and it's obtainable exploitation the fob or the Tesla
circumstances, like a shocking scenario on the road or
mobile app.
excessive basic cognitive process by the driving force.
As of March 2017, Summon was available in "beta" for
If the driving force dismisses 3 audio warnings among the
HW2.
associate hour, Autopilot is disabled till the automotive is
the place. Controls include bumper, side clearance and summon
distance.
This is to stop full-fledged drivers from excessive reliance
on intrinsical safety options. • Autosteer
At speeds underneath eight mph on divided highways, Autosteer steers the automotive to stay in no matter lane
Autopilot functions indefinitely while not the driver's it's in (known as lane-keeping).
hands on the wheel.
With HW1, it's additionally ready to safely modification
Under forty {five} mph free hands area unit allowed for lanes as directed by a faucet of the turn indicator.
five minutes unless the car detects lateral acceleration.
As of May 2017, HW2 is limited to 90 mph (145 km/h) on
Above forty five mph free hands area unit allowed for 3 highway roads and the former 35 mph (56 km/h) speed
minutes if following another vehicle or one minute while limit on non-highway roads was removed,
not following an automotive.
instead of limiting to 5 over the ordinance or forty-five
• Autopark/Summon mph (72 km/h) if no ordinance is detected.
Autopark drives the automotive into a parking spot, • Safety features
whereas Summon drives it out.

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INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689
Issue 171, Volume 71, Number 01, May 2020

The Autopilot will find a possible front or aspect collision • Navigate on Autopilot
with another vehicle, bicycle or pedestrian within a
A feature of HW2] vehicles with Enhanced Autopilot
distance of 525 feet (160 m) if one is found it sounds a
(moved to Full-Self Driving in early 2019), allows the
warning.
vehicle to do automatic lane changes, move to a more
Autopilot has automatic emergency braking that detects appropriate lane based on speed, exit freeway, and
objects that will hit the automotive and applies the brakes. navigate freeway interchanges. Originally in October
2018, the feature required driver confirmation, but later in
The automotive can also mechanically
April 2019, an automatic option was added.
Serve out of them thanks to stopping fast-paced collisions.
Autopilot can also mechanically alter the high/low beam
headlights because of the nighttime lighting changes or if
an automotive is detected within the high beams.
• Speed assist
Front-facing cameras find ordinance signs on AP1 vehicles
and show the present limit on the dashboard or center
show.
Limits area unit compared against GPS information if no
signs area unit gift or if a vehicle is AP a pair of.0 or AP
2.5.

Hardware specifications

Hardware Hardware 1 Hardware 2[33] Hardware 3

October 2016 Enhanced August 2017

April 2019 Full Self
Date & Naming 2014 Autopilot Autopilot Hardware Hardware 2.5 (HW
Driving computer (FSD)
2.0[a] 2.5)[b]

Computers

NVIDIA DRIVE PX 2 Drive PX 2 with

FSD with two Tesla-
Platform MobilEye EyeQ3[35] AI computing secondary node
designed processors.
platform[36] enabled.[27]

Sensors

Forward Radar 160 m (525 ft) 170 m (558 ft)

Front / Side Camera

N/A RCCC RCCB
Color Filter Array

3:

1 monochrome with  Narrow (35°): 250 m (820 ft)

Forward Cameras
unknown range  Main (50°): 150 m (490 ft)

 Wide (120°): 60 m (195 ft)

Forward Looking Side  Left (90°): 80 m (260 ft)

N/A
Cameras  Right (90°): 80 m (260 ft)

Rearward Looking  Left: 100 m (330 ft)

N/A
Side Cameras  Right: 100 m (330 ft)

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Issue 171, Volume 71, Number 01, May 2020

For human use, not

Rear View Camera 50 m (165 ft)
for automation use

12 surrounding with
Sonars 12 surrounding with 8 m (26 ft) range
5 m (16 ft) range

II. CONCLUSION [9] Gitlin, Jonathan M. (2016-09-15). "Mobileye spills the

beans: Tesla was dropped because of safety concerns". Ars
Tesla Motors warns that Tesla Model S and Model X Technica. Retrieved 2016-11-14.
needs drivers to stay engaged and aware once AutoSteer is
[10] Nelson, Gabe (2015-10-14). "Tesla beams down 'autopilot'
enabled.
mode to Model S". Automotive News. Retrieved 2015-10-
Drivers must keep their hands on the steering wheel, as 19.
they claim it hasn’t yet reached full autonomy. Consumer- [11] "Enhancing Safety and Convenience with Summon". Tesla
report experts believe that these 2 messages—your vehicle Motors. 2016-02-08. Retrieved 2016-04-18.
will drive itself, however, you will have to be compelled to
[12] Zhang, Benjamin (2016-01-10). "ELON MUSK: In 2 years
take over the controls at a moment’s notice—create the
your Tesla will be able to drive from New York to LA and
potential for driver confusion. Following a
find you". Automotive News. Retrieved 2016-01-12.
series of crashes, one of which -the Florida crash-was fatal, [13] "Autopilot - Summon". Tesla Motors – via Vimeo.
has prompted investigations by the National Highway
[14] Tesla to publish details of v8.0 with ―Major improvements
Transportation and Safety Association [NHTSA]and the
to Autopilot‖ later today August 31, 2016
National Transportation Safety Board [NTSB][11].
[15] "Elon Musk explains Tesla Autopilot's new capacity to see
As of now, Tesla claimed the crash occurred because of ahead of the car in front of you". Electrek. Retrieved 2016-
unskillfulness of the Mobileye Q3processor, to that 09-11.
Mobileye terminated their collaboration with Tesla
[16] Analyst: Tesla Autopilot's Switch From Camera To Radar
Motors, however, they're going to continue providing
Bad News For Mobileye Benzinga, Retrieved 2016-09-12
technical assistance to Autopilot with no further
development. [17] Tesla’s Autopilot Vindicated With 40% Drop in Crashes
Bloomberg, January 19, 2017
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[3] Lambert, Fred (2016-11-10). "Tesla orders 3rd-party survey
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Issue 171, Volume 71, Number 01, May 2020

[25] "Introducing a More Seamless Navigate on Autopilot".

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autopilot-europe/?guccounter=1

[27] https://www.unece.org/fileadmin/DAM/trans/main/wp29/wp
29regs/2018/R079r4e.pdf

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