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Tesla's Autopilot is classified as Level 2 under the SAE International six levels (0 to 5) of vehicle automation.[47] At this level, the car can act autonomously, but requires the driver to monitor the driving at all times and be prepared to take control at a moment's notice.[48][49] Tesla's owner's manual states that Autopilot should not be used on city streets or on roads where traffic conditions are constantly changing;[50][51][52] however, some current FSD capabilities ("traffic and stop sign control (beta)"), and future FSD capabilities ("autosteer on city streets") are advertised for city streets.[53]
Elon Musk first discussed the Tesla Autopilot system publicly in 2013, noting that "Autopilot is a good thing to have in planes, and we should have it in cars."[15]
In October 2014, Tesla offered customers the ability to pre-purchase the Autopilot capability within a "Tech Package" option. At that time Tesla stated Autopilot would include semi-autonomous drive and parking capabilities,[16][17][18] and was not designed for self-driving.[19] Tesla developed initial versions of Autopilot in partnership with the Israeli company Mobileye,[20] but Mobileye ended the partnership in July 2016 because Tesla "was pushing the envelope in terms of safety".[21][22]
All Tesla cars manufactured between September 2014 and October 2016 had the initial hardware (hardware version 1 or HW1) that would support the Autopilot software.[23] Software enabling Autopilot was released in mid-October 2015 as part of Tesla software version 7.0.[24] At that time, Tesla announced its goal to offer autonomous driving.[25] Software version 7.1 then removed some features to discourage customers from engaging in risky behavior.[26]
In August 2016, Musk announced Autopilot 8.0, which processes radar signals to create a coarse point cloud similar to lidar to help navigate in low visibility,[27] and even to "see" in front of the car ahead of the Tesla car.[28] In November 2016, Autopilot 8.0 was updated to have a more noticeable signal to the driver that it is engaged and to require drivers to touch the steering wheel more frequently.[29][30] By November 2016, Autopilot had operated actively on HW1 vehicles for 300 million miles (500 million km) and 1.3 billion miles (2 billion km) in "shadow" (not active) mode.[31]
Tesla stated that as of October 2016, all new vehicles come with the necessary sensors and computing hardware, known as hardware version 2 (HW2), for future FSD.[32] Tesla used the term Enhanced Autopilot (EA) to refer to HW2 capabilities that were not available in HW1, which include the ability to automatically change lanes without requiring driver input, to transition from one freeway to another, and to exit the freeway when the destination is near.[33] Autopilot software for HW2 cars came in February 2017. It included traffic-aware cruise control, autosteer on divided highways, and autosteer on 'local roads' up to a speed of 45 mph.[34] Software version 8.1 for HW2 arrived in March 2017, providing HW2 cars software parity with HW1 cars.[35] The following August, Tesla announced hardware version 2.5 (HW2.5).[36]
As early as March 2019, Tesla began manufacturing its cars with a new version of the "full self-driving computer", Hardware version 3 (HW3).[37] To comply with the new United Nations Economic Commission for Europe regulation related to automatically commanded steering function,[38] Tesla provided an updated Autopilot in May limited to Europe.[39] In September, Tesla released software version 10 to Early Access Program (EAP) testers, citing improvements in driving visualization and automatic lane changes.[40]
In September 2020, Tesla reintroduced EA to designate the subset of features applying to highway travel, parking, and summoning, whereas the FSD option adds automation on city roads with traffic lights.[41] A month later, Tesla released a "beta" version of its FSD software in the United States to EAP testers.[6][7] As of May 2021, the beta FSD software is being tested by a few thousand customers.[8]

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