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.
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We’ve already seen that Tesla’s Project Halo has some hardware modifications not found on consumer cars. While some of these upgrades, like the second communications unit, have a clear purpose, another change is a bit more confounding.
Early-access testers in Austin spotted a simple, flat, likely metal bar under the rear trunk of the Robotaxi Model Ys. While we’re still not sure what exactly this new bar is for, we do have some speculative ideas.
The community has also floated some fantastic theories, but Tesla clearly put it here, and on these Robotaxi vehicles, for a specific purpose. Grab your notepads, we’re about to do some theorycrafting.
Could Be Wireless Charging
By and far, the most plausible and exciting theory is that this bar is related to future wireless charging capabilities and testing.
For a Robotaxi network to scale efficiently, the entire process, from cleaning to charging, must be autonomous. Relying on a human to plug in each vehicle, or even a complex robot arm, introduces a logistical bottleneck and a potential point of failure.
The logical endpoint here is that wireless inductive charging is a game-changer. A vehicle simply parks over a designated pad at the depot to begin charging, without any interaction.
The metal bar is in the exact spot where Tesla could potentially mount testing gear, or even the vehicle-side receiver for more informal testing, without needing to commit to a wholly new underbody design.
Tesla previously acquired Wiferion, a German inductive charging technology company, and demoed the wireless charging solution at We, Robot. With a series of patents on beam steering and wireless charging circuits, Tesla has been hard at work building up their tech base to support wireless charging for Robotaxi.
@DirtyTesLa on X
What It Probably Isn’t
We’ve seen several other theories discussed, but they really begin to fall apart under closer scrutiny.
The first is additional underbody protection. While it is potentially practical, the bar’s position is far too rearward to offer any additional protection to the high-voltage battery pack or the rear drive units. Additionally, Tesla prefers to integrate this type of protection directly into the vehicle’s Gigacasting. Tesla has already made significant improvements to the structural rigidity of the new Model Y’s Rear Casting, so this makes no sense.
Next up is a potential camera spray shield for the rearview camera. The centralized placement of the bar means it doesn’t actually protect from the rear wheels pushing road spray out and upwards. It simply won’t have an impact on the rear camera that we can see.
Rounding up the theory crafting is a new aerodynamic part. However, the bar is flat and seems more like a mounting point than anything aero-related, such as the new rear diffusers spotted on the Model Y Performance. The bar likely makes more drag than it reduces.
Small Part, Lots of Ideas
When considering the logistical requirements of a large-scale autonomous vehicle fleet, wireless charging is a natural choice, especially given the mounting point. This simple metal bar is likely a preparatory step for Tesla to mount engineering samples for wireless charging in the near future.
If you’ve got any other ideas on what this could be, we’d love to hear what you think on social media.
While the performance of FSD has been the star of the Robotaxi Network, new details are emerging about Tesla using modified Model Ys for the service. According to a report from Business Insider, the program to modify some vehicles for Robotaxi is known internally as “Project Halo”, and it involves more than just a newer FSD version.
These details help connect the dots between the subtle physical changes that have been spotted on the Robotaxi Model Ys.
Physical Clue: Expanded Rear Housing
Eagle-eyed observers in Austin were quick to spot a key physical difference on the Robotaxi fleet vehicles: a larger-than-normal housing on the rear window. This immediately sparked speculation that Tesla had integrated new components to support the Robotaxi rollout. We initially expected that these may have been minor changes like Tesla is known to roll out, but now we have a better idea of what exactly is under that new housing.
Halo Communications Unit
According to the insider source, Tesla’s Halo vehicles are equipped with a second telecommunications unit. That’s a significant change from customer vehicles, which are equipped with just a single unit near the roof of the vehicle.
According to the report, this unit serves a dual purpose. It provides redundant, high-precision GPS data, and most importantly, allows the vehicle to maintain a constant, reliable connection with Tesla’s Robotaxi support team. That includes connectivity for teleoperation, if necessary. This hardware may be the physical backbone for the human assistance portion of the pilot phases of Robotaxi.
As we saw in the command center image shared by Ashok Elluswamy, these vehicles are streaming video from six cameras, potentially putting too much of a strain on the vehicle’s single cellular modem.
Not a Tesla App
Probably Not Starlink
While we initially mused that this could be holding a Starlink Mini dish, the space taken up by the housing is far too small to permit the installation of a Mini. Instead, it is approximately the same size as the telematics control unit that Tesla installs in the ceiling of its newer vehicles, which include a 5G modem.
Tesla is likely using the second connection for redundancy or to increase data throughput.
Quickly Iterating on FSD
All that data throughput likely serves a third purpose as well - providing live data streaming for Tesla’s Robotaxi Operations Hub back at Gigafactory Texas. That isn’t necessarily for support teleoperations, as we previously mentioned.
It is likely that Tesla is pulling video data from the Robotaxis to quickly improve the current version of Unsupervised FSD. Early-access testers noticed that in just a day, Tesla was issuing improvements, which means data is moving from vehicle to training in a snap.
Yesterday robotaxi would get like an inch away from this wall (first video) while pulling up. I saw 4 different Robotaxis do it.
Today it seems fixed. I've seen 2 robotaxis. Is Tesla really changing things this quickly? pic.twitter.com/zfdchBL771
Well before the launch, Elon said that the vehicles used for Robotaxi would be unmodified vehicles coming straight from the factory. It seems that isn’t exactly true, but it could be in the future.
So, how can we reconcile the unmodified statement with the clear evidence of Project Halo hardware? The key here lies in the difference between a stock Tesla’s FSD capabilities, versus the operational hardware required to run a commercial Robotaxi service.
Elon’s entire point is that the fundamental FSD hardware — the cameras, sensors, and FSD computer — is standard on every car coming off the line. From a capability standpoint, a consumer car can perform Unsupervised FSD.
The second communications unit is best understood as service hardware. They don’t make the car drive better, but they provide the redundant connectivity needed for operational oversight, remote assistance, and the massive data uploads required for a pilot program.
This hardware may also be necessary for Tesla to meet regulatory compliance requirements for a commercial autonomous vehicle service for the foreseeable future.
These are unmodified Tesla cars coming straight from the factory, meaning that every Tesla coming out of our factories is capable of unsupervised self-driving! https://t.co/n94ln0Uas6
The Business Insider report also mentioned that Halo vehicles would have self-cleaning cameras. That isn’t a new hardware feature; in fact, it appears to refer to the software feature where Robotaxis can thoroughly clean its front-facing cameras [video and details], which will eventually make its way to owner vehicles.
Wrapping Up
The insider confirmation of Project Halo and its specialized hardware helps to provide a clearer picture of exactly what Tesla is doing with Robotaxi. It seems that for now, it’s not simply just consumer cars running advanced hardware, it’s a fleet of very lightly purpose-modified vehicles meant to support the pilot rollout.
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