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 Autopilot safety features appear to be undergoing a big architectural shift, and it’s one that many may not have noticed. When a vehicle activates Lane Departure Avoidance, the visualization would previously flip back to the old Autopilot visualization, hinting that the vehicle was using the old Autopilot stack.
With Basic Autopilot not being available on the Cybertruck, Lane Departure Avoidance and Lane Assist, two safety features that leveraged the old Autopilot stack, were also absent on the Cybertruck.
However, with the 2025.14 update, Tesla added these two safety features to the Cybertruck and introduced a new visualization for Lane Departure Avoidance. Since Basic Autopilot is still not available on the Cybertruck, we believe these safety features have been migrated to the newer FSD stack.
This affects all vehicles with FSD, not just the Cybertruck, and includes vehicles on HW3 and HW4. Vehicles without FSD do not appear to have received the updated Lane Departure Avoidance (LDA). Vehicles with older FSD hardware, such as HW 2.5, will likely also remain on the older version of LDA.
Undocumented change in 2024.14.3.1… when using the FSD visualization, it no longer switches back to the AP visualization when lane departure assist is activated; it now just highlights the line in blue. This used to drive me nuts! @teslascope@NotATeslaApp@SawyerMerrittpic.twitter.com/psZYdWVNL3
One of the most noticeable changes is that Lane Departure Avoidance no longer causes your screen to revert to the old Autopilot visualization and instead keeps the FSD visualizations on the screen. Lane Departure Avoidance also features a new visualization.
As shown in the video above, the new visualization now highlights the lane marking you’re going over in blue on both sides. If your vehicle activates Emergency Lane Departure Avoidance, then the road marking will turn red.
Note the red line with Emergency Lane Departure Avoidance on FSD.
Not a Tesla App
Note: At this time, it appears that this only applies to vehicles with FSD. Non-FSD-equipped vehicles will likely continue to use the older Autopilot stack for safety features for the time being.
Software Unification
This is big news - many people have been wondering why Tesla hasn’t started offering a subset of FSD features to users who only have access to Autopilot, either because they don’t have the FSD package, or they live outside of North America and China.
This appears to be a big step in Tesla unifying its software features and making FSD the standard Advanced Driver Assistance System (ADAS) for all vehicles.
Free Up Resources for FSD
By moving some features over to FSD, Tesla is also cutting out the old software stack, freeing up additional resources for FSD’s immense resource consumption. This could result in future benefits as Tesla stops running two similar software stacks side-by-side. This could also mean that these features will perform better under FSD than Autopilot since FSD has a better understanding of its environment.
There are still numerous features that work under the old Autopilot stack. In the near future, this could also apply to the rest of Tesla’s Autopilot safety features, including Automatic Emergency Braking (AEB), Forward Collision Warning (FCW), and Obstacle-Aware Acceleration. However, these features have less obvious visual signs, and it could make it more difficult to tell when Tesla transitions these features over to the FSD stack.
FSD-Based Autopilot
This technical migration of safety features fuels some speculation on our part. Tesla has refrained from updating or improving Autopilot for the most part, with the notable exception of adding Curvature Assist in 2024.38.
When core and basic vehicle control and safety features, including an Autosteer equivalent, run on the FSD stack, Tesla will likely make their move to make a new version of Autopilot the standard offering on its vehicles instead of the current legacy stack. This creates a consistent baseline while still differentiating the paid FSD package through its autonomous nature.
We’re excited to see what Tesla releases on this front - as it’ll have a massive impact on millions of drivers globally who don’t use FSD. The fact that this new safety feature has been confirmed to function on both HW3 and HW4 vehicles is a big plus - Tesla isn’t forgetting about older users in their rush to an autonomous future.
Teslas are generally known as low-maintenance vehicles since there are no oil changes to perform, coolant flushes, and brake pads can last 200,000 miles or more thanks to regenerative braking.
However, there are still some parts that wear out and need to be replaced. One of these things is your windshield wipers.
This guide will walk you through identifying the right size for your vehicle, accessing Wiper Service Mode, and how to replace them.
When To Replace Blades
Wiper Blades in need of replacement.
Not a Tesla App
You’ll want to look for these common signs that your wiper blades are due for a change:
Streaking
Smearing
Skipping/Chattering
Squeaking
Visible Damage
As a general rule of thumb, Tesla recommends replacing your wiper blades once a year, although we’ve found they generally last much longer than this, even in snowy areas. However, your local climate, whether your vehicle is garaged, and how often you use them will play a key role. Keep in mind that the sun will harden and degrade the rubber of the blades, even if you don’t use them.
Windshield Wiper Sizes by Model
Finding the correct size of blades can sometimes be difficult. Blade sizes and adapter types can vary between third-party vendors and Tesla. Here’s a table displaying the correct wiper sizes based on the model.
Model
Driver Side Length
Passenger Side Length
Model 3 (all years)
26" (650mm)
19" (480mm)
Model Y (all years)
26" (650mm)
20" (500mm)
2021+ Model S
26" (650mm)
20" (500mm)
2021+ Model X
26" (650mm)
21" (533mm)
2012-2020 Model S
Varies - see below
Varies - see below
2015-2020 Model X
Varies - see below
Varies - see below
Cybertruck
48” (1220mm)
NA
The wiper blade sizes are straightforward for the Model 3 and Model Y. However, things get a little more complicated for the Model S and Model X due to Tesla using different wiper arms that require different wiper blades over the years.
If you have a legacy Model S or Model X (2012-2020 model years), then your vehicle may use the same blade sizes as the newer Model S and X or use longer 28” and 18” blade sizes. Your best bet is to turn on Wiper Service Mode (see below) and measure the length of the driver and passenger blades.
Which Wipers to Get
We recommend a pair of high-quality Bosch ICON wipers—the same wipers that are already on your Tesla. They offer great performance and make replacement really quick and simple. While third-party wipers may also work great, they often need an adapter, which can make installation confusing or complicated.
You can get most Bosch ICON wipers directly from Amazon for about $30 below.
Tesla uses Bosch-style wiper arm tabs. Most third-party wipers include adapters, but you’ll want to make sure they support the correct Bosch adapter—either #4 or #6—depending on your vehicle. Adapter requirements can vary by region and model year; for example, some 2021 Model Ys use a #4, while others use a #6.
Since there’s no definitive rule, we recommend checking the third-party manufacturer’s compatibility guide or opting for Tesla’s OEM Bosch wipers above, which are competitively priced.
Wiper Service Mode
To safely and easily replace your wipers, you’ll want to enable Wiper Service Mode. This lifts up the wiper away from the windshield and hood edge and also prevents them from automatically turning on if they sense water.
Once the vehicle is in Park, go to Controls > Service > Wiper Service Mode. The wipers will then move to their service position. Just turn off Wiper Service Mode once you’re done examining or replacing the wipers.
Once you’re done replacing the wipers, it’s also a good idea to mark them as replaced in Tesla’s Maintenance summary. This will keep track of the date your wipers were changed and record your odometer reading, making it easier to see when you may need a replacement.
Go to Controls > Service > Maintenance and select Wiper Replacement to mark your wipers as changed.
Replacing the Wipers
With Wiper Service Mode active, replacing the wipers is straightforward as long as you’re using the Bosch wipers or know which third-party adapter to use. The Cybertruck has its own set of instructions further down.
Place a soft towel or cloth on the windshield beneath the wiper arms. This can help prevent scratching or an impact on the windshield if the arm springs back away from you.
Lift one wiper arm slightly away from the windshield (wiper arms do not lock upward)
Release the wiper blade by pressing firmly on the square locking tab at the top, where the blade meets the wiper arm.
Slide the old blade off the hook or pin, and note its orientation.
Install the new blade onto the wiper arm, ensuring it’s oriented the same way the old one was removed. Slide the blade onto the new arm until it clicks into place.
Give the blade a gentle tug to ensure it is locked into place.
Lower the wiper arm, and repeat steps 2-6 for the other side.
Exit Wiper Service Mode
Give your wipers a test run to make sure everything functions smoothly before driving.
Cybertruck
We recommend carefully reading the Cybertruck Owner’s Manual for a wiper replacement. The washer hose barb needs to be removed and reinstalled with the Cybertruck’s replacement wiper blade, but the rest of the procedure is much the same, except the arm does not lock upwards.
There are no third-party wiper replacements for the Cybertruck that exist at the time of writing, so you’ll need to purchase them from the Tesla store. Service locations will generally have them in stock and can do a replacement if requested. As far as we can see, Service will offer a goodwill wiper swap when you purchase one on-site.
Cybertruck's massive wiper blade - only Tesla offers it, for now.
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