Tesla has released vision Park Assist with Tesla update 2023.6.9
@EVBaymax & @ManZoneBeer
Tesla has unveiled the Vision Park Assist feature with its new software update, version 2023.6.9 for non-FSD Beta vehicles. This cutting-edge feature employs the car's cameras to measure distances to nearby objects, offering users valuable parking assistance.
When Tesla removed ultrasonic sensors (USS) from their vehicles six months ago, some owners expressed concerns regarding the loss of parking assistance. In response, Tesla embarked on the transition towards a vision-based solution, culminating in the introduction of Vision Park Assist.
Accuracy of Park Assist
Twitter user @EVBaymax couldn’t wait till morning to test out the new Vision Park Assist feature. Equipped with his Model 3 and a measuring tape, @EVBaymax put the new technology to the test and shared it all on Twitter, providing some valuable insight into its performance. In one video, he said, “super-impressive what Tesla has been able to do. This is… Wow! I’m impressed.” @EVBaymax was showing the car within an inch or two of what the reading said inside the car.
However, he did spot something less impressive. When shifting into drive or reverse after being parked for a few minutes, a message pops up that says: Park Assist is Loading. That load took 6-8 seconds as the system recalls what was around it before it was parked. The time is quite a lag compared to the USS-enabled systems. @EVBaymax is hopeful this is addressed. However, the vehicle did eventually load the data it had before it was turned off, showing the same distance to the curb that was in front of it, even though the curb was out of view of the cameras.
Several online videos show a significant difference in readings between USS and Vision. USS mostly displays smooth readings with straight edges, but vision does not display many straight lines. When backing up to a curb, @EVBaymax notes that the line representing the curb is “squiggly and is moving.”
Availability
Although Park Assist was initially included in FSD Beta 11.3.2 and limited to North American markets, Tesla is rolling out Park Assist to additional markets with update 2023.6.9.
Currently, the Vision Park Assist feature is compatible with Model 3 and Model Y vehicles. Users also have the option to turn off Park Assist if they prefer, just like owners with USS. This innovative technology offers 360-degree detection, instead of just front and rear, as highlighted in our previous article.
Park Assist Detecting a Curb
One of the advantages of vision-based Park Assist is the ability to detect objects on the side of the vehicle. @EVBaymax does a great job illustrating that in this video below.
At this time, it appears that vehicles with ultrasonic sensors still offer a higher level of accuracy, however that could depend on the height of the object and the type of object itself.
Vision Park Assist does not currently apply to vehicles with ultrasonic sensors. However, since Vision Park Assist does provide some advantages over its hardware-based version, it'll be interesting to see if Tesla incorporates it into all vehicles in the future as the feature matures.
As more Tesla owners install and utilize Vision Park Assist, the feature is expected to improve. The company will use the collected data to enhance distance estimates, aiming for accuracy on par with sensor-based systems.
Tesla's Vision Park Assist offers visual and auditory alerts for objects in the vehicle's surroundings, utilizing the occupancy network to generate high-definition object outlines. However, it is essential to remember that this feature should be treated as guidance, not as a substitute for an attentive driver.
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Tesla’s FSD has made some truly incredible strides since V11, and since FSD V12.5, the experience has been hands-free for vehicles with a cabin camera.
However, a persistent point of frustration for many users is the strictness of the Driver Monitoring System (DMS), often referred to as the “nag.” In a recent interaction on X, Mike P detailed his grievances about how strict the DMS was.
This post drew a response from Elon Musk, who said, “You’re right.” Just a few days and a relatively unassuming point release later, Tesla has already decided to take action to improve its DMS.
The core issue here, which many who use FSD can attest to, isn’t about wanting to be irresponsible. Instead, it is about the current system’s sensitivity. The DMS can feel overly punitive for brief, normal interactions with the vehicle’s center display.
User Experience Woes
Mike P’s experience was common - you can’t even glance at the display to change the song or add a nav stop without the DMS warning you to pay attention.
If you continue, then you risk receiving a FSD strike. This leads to most drivers disabling FSD and typing their destination in while manually driving. For the casual observer, you can tell that it is clearly far more dangerous.
This highlights a safety paradox: a system designed to ensure attentiveness can sometimes lead to less safe workarounds. One must acknowledge that Tesla is in an odd position, being incredibly cautious about safety and ensuring it stays within NHTSA guidelines. However, the nag today is overkill in some situations, such as glancing at the center screen.
Tesla Confirms Change
Musk’s relatively concise answer resonated with his previous outlook on the matter. During Tesla’s Q1 2025 Earnings Call, he acknowledged that the DMS can be too strict and mentioned that Tesla is actively looking into ways to loosen those restrictions. He also pointed out the irony between the current system encouraging users to disengage FSD for simple tasks, only to re-engage it moments later - a less-than-safe cycle.
In a post on X, Ashok Elluswamy, Tesla’s VP of Autopilot AI, delivered welcome news. He confirmed that the latest FSD update, V13.2.9, includes a loosening of the cabin camera nag. This is an undocumented change, and one that we’re very excited to see.
This undocumented change is the latest step in Tesla’s overall plan forward Unsupervised FSD, which would drop the DMS completely. Previous updates, like the shift to vision-based driver attention monitoring in V12.4 and V12.5, aimed to balance safety with user experience.
What Does This Mean?
While the full extent of changes in V13.2.9 will become clearer as Software Update 2025.14.6 rolls out to more FSD users, the confirmation of loosened cabin camera nag suggests a few things.
This likely means greater tolerance for brief glances at the screen for essential tasks, whether it be adjusting climate settings, inputting a nav destination, or changing the current song. It could also include a potentially more forgiving threshold for looking away, especially in low-speed scenarios. The DMS does not ding you for using the display or looking away while the vehicle is waiting at a red light today, but Tesla could expand this to driving under 10 mph (16 km/h).
Ashok Elluswamy, Tesla's Vice President of Autopilot and AI Software, recently discussed Tesla's artificial intelligence programs' current state and future ambitions. He covered FSD and then extended it to the broader topics of robotics and Artificial General Intelligence (AGI).
Journey to Truly Autonomous Driving
At the core of Tesla’s AI efforts lies the quest for fully autonomous vehicles. Ashok reiterated the long-term vision where, eventually, all newly manufactured cars are expected to be self-driving, with older, human-driven cars potentially becoming items for specialized hobbies or unique purposes.
However, he did acknowledge that the current advanced driver assistance systems (ADAS), including Tesla’s own FSD, require better reliability before the human can be completely removed from the equation.
The development process, he emphasized, is fundamentally rooted in machine learning rather than traditional programming. A crucial aspect of this is that AI is consistent across every vehicle, learning collectively from the fleet’s experiences rather than being unique to each car.
Progress in AI is continuous.
Safety and reliability remain Tesla’s focus for FSD. Now, with Tesla just weeks away from launching its Robotaxi Network in Austin, Texas, this is more true than ever, as any accidents could cause a delay in the program’s expansion or stop the program entirely.
No LiDAR
Ashok confirmed that Tesla still has no interest in LiDAR while discussing Tesla's vision-based sensor suite. He reiterated that cost and scalability remain key concerns with LiDAR, adding that its perceived usefulness diminishes as vision-based systems continue to improve.
Beyond the Road: FSD and Robotics
Ashok described Tesla’s AI network poetically - a “digital living being.” This emphasizes the organic way FSD absorbs information from the environment and learns from it. But FSD isn’t just for cars. Tesla uses FSD, as well as the same AI4 hardware from its vehicles, for its humanoid robot, Optimus.
Ashok expects that there will be a tremendous wave in robotics over the next 10 to 20 years. A key part of this will be the development of humanoid robots, which he believes will eventually be capable of complex industrial and domestic tasks, interacting with natural language, likely by 2035.
This recent surge in AI capabilities has been heavily driven by advancements in deep learning and the availability of massive computing power. Tesla is making heavy investments in both software and hardware. It recently started construction of its Cortex 2.0 Supercomputer cluster at Giga Texas.
Envisioning Sustainable Abundance & AGI
The conversation also covered the topics of Artificial General Intelligence. Ashok offered a pretty bold prediction that AGI will arrive in as little as the next 10 years, based on the rate of advancement that he’s seen so far. He further projected that AI-based software could become capable of performing most human tasks, whether spreadsheets or even robotic athletics, within the next 15 years.
This technological leap, he believes, ties into Tesla’s newer mission statement of sustainable abundance. Sustainable abundance is where the combination of intelligent machines and effective robotics helps to move greater portions of society away from poverty. This has become Tesla’s guiding philosophy since the 2025 All-Hands Meeting earlier this year.
Sustainable abundance should be a win-win scenario for all involved, helping reshape both production and creative industries to help humans do what they want to do rather than what they have to do.
Future of Mobility
As FSD and other AGI tech mature, Ashok believes that all cars being manufactured by 2035 will become autonomous. By then, the very concept of car ownership may change and transform. Owning a car would be a more “premium experience,” as the convenience and efficiency of self-driving vehicles might make personal ownership less of a necessity for many people. This shift would also necessitate infrastructure improvements to accommodate potentially increased vehicle usage.
We took a look at what the future may look like when autonomous vehicles become commonplace. It’ll have a drastic effect on our society, as parking lots will need to be a fraction of the size they are today, drop-off and loading zones will need to be bigger, and, for the most part, road signs may no longer be needed.
Will need this big time in the future. With autonomous vehicles we'll have affordable premium transport for everyone. This will likely increase traffic due to the increased usage, even though each vehicle is much more efficiently utilized. https://t.co/xvdvmxmzxd
Touching on the Indian vehicle market, Ashok noted that EVs, especially when combined with technologies like FSD, are well suited to the typical travel patterns in India and could make a big difference. With Tesla putting its eyes on a potential factory expansion in the coming years in India, there’s a lot riding on Tesla being able to take on the challenge of Indian roadways, where traffic laws are not enforced and well known.
Ashok’s interview was a fantastic look into what he believes will be next for Tesla - and he left with some parting advice for the next generation of engineers.
Master core concepts and leverage the wealth of online resources available. There is an emphasis on talent and innovation over traditional corporate hierarchies, and don’t forget your priorities: work and family.
You can watch the full interview here. Closed captioning is available.
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