Tesla's Hardware 4: Unraveling the Mystery Behind the Most Advanced FSD Computer (2024)

Since its introduction, Tesla's Hardware 4 (HW4), the company's most advanced full self-driving computer, has been shrouded in mystery. Renowned Tesla hacker @greentheonly, or Green, has uncovered more details about HW4, providing valuable insight into its technology.

2-SOC Version and Camera Layouts

Green's analysis of firmware samples led to the discovery of the shipping version of HW4, internally referred to as the 2-SOC (System on a Chip) version. This version supports two possible camera layouts: the current one or an expanded one with added surround-view cameras, such as a front bumper camera and two additional side cameras. These cameras can run at a resolution of 2880x1876 and reach up to 45 frames per second. The main and backup cameras have unique specifications, with the vendor yet to be determined.

The new Global Navigation Satellite System (GNSS) is reportedly based on the Teseo V platform, while the radar system connects via Ethernet and operates on an internal IP address of 192.168.90.110.

Initial HW4 Camera Connectors and New Cameras

Initially, Green revealed HW4 with 12 camera connectors, and new cameras were expected to be used in HW4 vehicles. However, the first vehicles with HW4, specifically the Model S and Model X, have the new hardware but do not include the new cameras. As previously reported in our Project Highland article, Tesla plans to add a new camera to the bumper and one more to each side of the vehicle.

Two HW4 Setups and the 3-SOC Version

Green's latest findings show two HW4 setups: one with additional cameras and one without. Additionally, Green's firmware analysis has uncovered the existence of a 3-SOC version in development. The camera layouts for this version remain the same, but the internal deserializing routing differs.

Increased heat output from the GPU in HW4 has possibily led to limitations in its capabilities. The 3-SOC version could potentially address this issue by offering better heat dissipation or paving the way for new hardware. However, the exact purpose and development of the 3-SOC version remain uncertain at this time.

Tesla Semi Truck-related Findings

In another intriguing development, Green's firmware analysis revealed information related to Tesla's Semi truck, with the Battery Management System (BMS) and all three subpacks accessible over an internal ethernet network.

These discoveries by @greentheonly provide a comprehensive understanding of the advanced technology behind Tesla's HW4. As the most advanced full self-driving computer on the market, its potential applications and capabilities are undoubtedly exciting for the automotive industry and consumers.

As Tesla continues to develop and refine its full self-driving technology, it is crucial to address questions about its safety, functionality, and integration with existing systems. The world eagerly awaits further developments in the cutting-edge HW4 and the autonomous driving experience it promises to deliver.

With more images of the Model Y Refresh – codename Juniper – making their way onto the internet, it’s a good chance to build a little wishlist of features and upgrades we’d love to see on the refreshed Model Y.

We’ll keep it simple to start, and list some of the features we fully expect on the refreshed Model Y.

Bumper Camera

The bumper camera is already on the Cybertruck, expected to be on the Model S and Model X, and we’ve seen a covered-up Model Y with a bumper camera already. At this point, we’re fully expecting this feature.

It’ll certainly be useful when parking and it’ll be extra useful for those who want to overland or off-road their Model Ys.

Adaptive Suspension

The refreshed Model 3 Highland arrived with frequency-selective damping, softer springs, and an overall smoother ride. In addition, these options are somewhat tuneable in the Dynamics vehicle menu. We’re hoping to see the same, or perhaps even more improvements on this front for the Juniper.

Updated Steering Wheel

Like the Model 3, we expect the gear stalks to be removed from the Model Y in the Juniper refresh. Hopefully, we can even get a squircle steering wheel option like the Cybertruck.

Rear Screen

The Highland 3 brought an 8” rear screen to all variants – we’re fully expecting this to show up in the refreshed Y as well. The addition of the rear screen adds very little cost for Tesla since the screen is powered by the same computer that powers the infotainment system up front, but it adds a ton of value for customers. In turn, it likely increases the take rate of Premium Connectivity since it allows rear passengers to watch YouTube, Netflix and more while driving.

Ambient Lighting

The leaked Model Y images that came out recently confirmed that the Juniper Y has ambient lighting – and even better than the retrofit ambient lighting offered in China. These ambient lighting strips will extend onto the front doors. We’re always happy to see interior upgrades, especially improvements to the ambient lighting. Ambient lighting is something we’ll see Tesla continue to improve as we saw with update 2024.26 where owners can now adjust the brightness of the lights and choose whether they come on during the day or only at night.

Ventilated Seats

The same leak earlier late last month also confirmed that the Model Y will have ventilated seats, just like the refreshed Model 3. These were previously a Model S and Model X feature, but this helps to really cement Tesla’s luxurious interiors as industry-leading.

Rear Lightbar

We also saw a brand-new rear lightbar on the back of the leaked Model Y, and it looks pretty cool. Tesla appears to be switching back to the written branding on the rear of the vehicle, rather than just the simple, but deep Tesla logo.

Improved Speakers

The Model 3’s refresh also improved the speaker system – bringing it up from 14 speakers to 17. We’d love to see the same improvements to the Model Y, especially since Tesla takes such care in engineering their audio systems.

Wishlist

Now, let’s get into some of the features we’re hoping make it into the Juniper Model Y. Some of these might be reaching a tad far, but that’s what wishlists are for.

Increased Range

While the Model 3 did get a range increase in its refresh, we’d hope to see something similar here, with a better drag coefficient and overall better range bringing us to a 10% increase. 350mi (550km) would be the ideal range for the Long-Range Dual Motor variant.

Structural 4680 Battery

Tesla has been working on their 4680 cells recently, with the first dry-cathode Cybertruck prototype roaming Giga Texas. Tesla also announced that their dry-cathode 4680 process will begin mass production in late 2024, and a structural 4680 on the new cell could further improve the Model Y as one of the safest vehicles on the road, while also driving down its cost to manufacture.

Better Performance Model

Faster. Runs Cooler. Better Brakes. Ludicrous Seats. A better performance variant of the Model Y is likely in the works, given the improvements to the Model 3 “Ludicrous”. We’d love to see all these features come to the future Model Y performance trim. We’re probably going to have to wait a bit longer for this one, just like the Model 3.

Air Suspension

Tesla’s amazing air suspension features have also been limited to just the Model S and Model X. This is an expensive package, so we don’t expect this to arrive on the refreshed Y, which is made more as a mass-market vehicle. However, even a scaled-down or simplified air suspension would be an amazing improvement to the Model Y, especially as a premium SUV.

Tiltable Center Screen

The Model Y is the vehicle for families. And what better way to amuse or anger your passenger than tilting your screen towards you? Well, a tiltable center screen would be a slick upgrade, again previously constrained to the Model S and Model X. Many people, including the author, use a tilting center screen mod, and Tesla making it OEM would be a nice addition.

Better Charging Pads

Tesla’s wireless charging pads for its phones are… OK at best. At worst, they can get hot enough to cook you a meal, and this is especially bad with Apple devices. We’d love to see Tesla bring some improvements to its cell phone chargers and make them faster too — possibly with some integrated cooling. Most cell phones support at least 30w wireless charging today, and Tesla’s wireless charging pads aren’t exactly fast.

Steam Gaming Support

While Tesla has slowly snubbed Steam Gaming support, we’d like to see this feature make a come back to Tesla vehicles. Steam Support has previously been offered only on the Model S and Model X, but it would be perfect for the Model Y – the quintessential family EV. Tesla doesn’t necessarily need the horsepower that was in the discreet GPU of the Model S and X, but just the ability to play some Steam would be a great addition.

AI5

Given that Elon Musk just recently confirmed that AI5 is about 18 months out from mass production, there is a very good chance that the Juniper Model Y could launch alongside the official debut of the new AI5 hardware. That would be an exceptional way for Tesla to debut their new FSD hardware, right alongside the refreshed best-selling vehicle in the world.

Automatic Doors

This is a more premium feature suited for the Model S and Model X, just like Steam gaming support, but we’d love to see automatic front doors or automatic door handles on the refreshed Model Y.

Many other vehicle brands have similar auto-door features at the same price level, so it would be pretty cool to flex Tesla’s fantastic vision tech and have the doors open when the vehicle arrives after being Actually Smart Summoned to you.

48V Architecture

The Cybertruck brought 48V architecture to a vehicle for the first time. While the Model 3 Refresh was likely going on behind the scenes at the same time, 48V is now tried and tested. The Model Y Juniper offers Tesla the ideal chance to bring a 48V architecture to mass-market vehicles for the first time, and the cost savings will be huge.

Faster Supercharging & Wireless Charging

We’d love to see faster Supercharging because of better vehicle architecture and batteries, but we’d also love to see Wireless Charging. Tesla purchased Wiferion and kept its engineers to develop an in-house solution – which we expect to see on 10/10 with the Robotaxi event. Let’s hope they bring that wireless charging solution to the Model Y too.

Better 7-Seat Variant

The 7-seat variant in the Model Y is fairly cramped and takes up a lot of cargo room even when the seats are down. We’re sure Tesla can work some engineering magic and bring out some more space to help expand the rear seat legroom.

Steer-by-Wire

The Cybertruck was the steer-by-wire testbed, and it only makes sense that this same technology starts getting used on every single Tesla vehicle. Just like the 48V architecture, this likely didn’t make it in time for the Model 3 Highland, but the Model Y Juniper will offer a mass-production platform for steer-by-wire.

Starlink Integration

This one has been asked for really often – Starlink integration for Tesla vehicles. There’s no reason not to have it – except for the cost of the hardware. Starlink integration would be far more reliable than cellular and could be used globally. If you’re out camping with your Model Y Air Mattress, you’d appreciate some built-in Starlink too. A cellular connection would need to remain in place for when the vehicle doesn’t have a clear view of the sky, but this would certainly be a nice add-on.

Smart Electro-Optical Glass

Back in 2019, Tesla filed a patent for an “electro-optical” sunroof. This is pretty much a touch-button sunroof that activates or deactivates a tint but with a smart twist. Tesla’s version of this, which was included in the patent, could automatically adjust how much light is let in. It could also provide more light at night with a built-in LED layer.

Cyber-Y

Ok, put down the pitchforks and hear me out. Cyber. Y.

We already know the Model Y will likely not become angular and metal, but getting some Cybertruck-style vibes would be pretty cool – lightbar in the front, with wicked-cool Cyber styling throughout the interior.

Tesla’s Model Y refresh isn’t expected at least until early 2025, but as leaks and renderings start flowing, it’s hard not to get excited.

Now, we’re sure you’ve all got more ideas – so come and discuss them in our forum.

According to a post on X, Elon Musk said that Tesla has yet to unlock the full potential of AI4 – the now-renamed Hardware 4.

HW4 / AI4

AI4 currently runs Hardware 3 in emulation mode, which means it's only running about as fast as Hardware 3 can run. With just basic specs in mind, AI4’s cameras have 4-5x better overall resolution and fidelity than Hardware 3 and should be about 3-5x faster in inference capabilities. That’s a considerable increase over the baseline specs of Hardware 3.

With FSD 12.5, AI4 is running a FSD model that has a 5x increase in parameters, resulting in a smoother driving experience. Recently, Elon Musk noted that AI4 should be able to provide an additional 8x time increase in parameters. While we’re not exactly sure how the parameter metric computes vs the inference capability metric, but if we add them, it’s a 12x increase in capability.

However, Elon’s post implies that this is an 8x increase over the capacity they originally thought to have – nearly 50x faster than Hardware 3. That’s a bold claim, but could entirely be based on software optimization and not having to run Hardware 3 in emulation mode in the future, once AI4 and Hardware 3 begin to diverge.

AI4 Divergence

Divergence is still expected to be a few months away – at least not until early 2025. However, Elon confirmed that the new Supercomputer Cluster, which will run AI4 alongside Nvidia GPUs, is coming online very soon. This means that work on improving FSD with the newly unlocked potential of AI4 is going to start soon – however, it may not necessarily come to customers right away.

FSD on Hardware 3

Currently, most of Tesla’s fleet is still on Hardware 3 – the Model 3 only changed over after the refresh, and the Model Y only changed over in late 2023. Even if AI4 brings drastic improvements, Tesla will still have to focus a lot of energy on optimizing their model so that Hardware 3 vehicles – some of which are less than a year old today, can still run the latest FSD updates.

Musk recently commented on X that Tesla is still optimizing FSD to run on hardware 3. He originally estimated that it would take about 10 days to optimize the code for HW 3, however, that date has come and gone. We’re now on day 15, and HW 3 owners are getting increasingly frustrated about the delay and the worry that HW 3 is reaching its limits.

FSD v12.5.1.3 is currently the latest FSD version available to the public. However, Musk said that this version doesn’t have HW 3 support yet, and it’ll be a new unreleased version that will roll out for HW 3.

Team is working on it.

This will be a different release number.

— Elon Musk (@elonmusk) August 10, 2024