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Autopilot, Processors and Hardware – MCU & HW Demystified

There are over 60 processors in the S/X. The Model 3 has fewer processors, but still quite a few. For a list of those processors on the S/X, see our article:  https://teslatap.com/undocumented/model-s-processors-count/

Here we’ll focus on two modules that are often confused as to which do what functions. (May-2019 Update)

 

Media Control Unit (MCU)

This refers to the single module in the center of the S/X dashboard, and includes the touch display, processors, RAM, non-volatile memory, the audio subsystem, 5 amplifiers, WiFi, Cellular, Bluetooth, GPS, the Ethernet bridge, multiple CAN bus communications, the LIN bus, USB ports and more.

The MCU is responsible for the main display, all external communications, audio, cellular, navigation, and settings.  It has little to do with Autopilot, other than selecting various settings.

There are two versions of the MCU in the S/X:

MCU1 – using a Nvidia quad-core processor was in all S/X cars made from the start of production to February 2018.

Rear of MCU1

Rear of MCU1 showing the large audio amplifier heatsink

MCU2 – using an Intel multi-core Atom processor, began shipping in the S/X in March 2018. MCU2 offers slightly snapper operation, WiFi was upgraded to support 5 GHz, the Bluetooth was upgraded with a newer version and additional antennas (external to the MCU2), along with other minor changes.

If you want to confirm which MCU your S/X has, we created an MCU tester. In the browser on the car, enter: TeslaTap.com/mcu

The Model 3 architecture is different, with the display and MCU in separate modules. The Model 3 MCU also uses the Intel Atom processor and other components used in MCU2.

Model 3 Computer

 

Autopilot ECU Processor

There are currently four vehicle hardware variants related to Autopilot.

HW0 – No autopilot capability

HW1 – First Autopilot, based on the Mobileye chip. It used a single camera, radar and 12 medium range ultrasonic sensors. The electronics are co-located with the camera, behind the rearview mirror.

Autopilot HW1 camera and processor assembly

Autopilot HW1 camera and processor assembly

HW2.0 – Tesla’s 2nd generation design, using 8 cameras, 12 long-range ultrasonic sensors and one front radar. An entirely new ECU processor module was crated by Tesla, based on Nvidia’s Drive PX2 system. This ECU is located below the glove box.

HW2.5 – This provides a small update to HW2.0, primarily for redundancy and slightly improved reliability. This version also made possible two non-autopilot features – dashcam and sentry mode with local saved video.

HW2.5

HW2.5 ECU from a Model X with fan cooling (HW2.0 looks almost the same)

The first Model 3 Autopilot ECU hardware is similar to HW2.5 but uses liquid cooling from the cars coolant loop instead of fans.

HW3 – A major update to the Autopilot ECU using Tesla’s own chip design.

HW3 Neural Net Processor Board

HW3 Neural Net Processor Board

HW4 – A major update to the Autopilot ECU using Tesla’s 2nd generation chip design is now in development. It is expected to have 3x the performance of HW3.

 

HW Release Sequence and Timeline
timeline
Hardware Level Release Date Model S/X Release Date Model 3
MCU1 & HW0 22-Jun-2012 n/a
HW1 17-Sep-2014 n/a
HW2.0 1-Oct-2016 n/a
MCU2 1-March-2018 28-Jul-2017*
HW2.5 1-Aug-2017 28-Jul-2017*
HW3 22-Mar-2019 12-Apr-2019
HW4 Q3-2021 (Estimate) Q3-2021 (Estimate)

* Start of Model 3 production, but different hardware than S/X with same CPU as S/X.

 

Hardware Specifications for new cars (no retrofits)
ap coverage

 

Item HW1 HW2.0 HW2.5 HW3
Front Cameras 1 3 – Narrow 35°, Main 50°, Wide angle 120°
Side Cameras 0 2 – 90°
Side Rearward Cameras 0 2 – 60°
Rear Not used for AP 1 – 150°, RGGB*
Inside (Model 3) n/a n/a 1, RGGB*
Front/Side Camera Filters Monochrome RCCC* RCCB*
Radar Bosch, 525 ft range Continental, 558 ft range
Sonar sensors 12, each with 16 ft range 12 – each with 26 ft range
Core Processors Mobileye EyeQ3 1 – Nvidia Parker SoC**
1 – Nvidia Pascal GPU
1 – Infineon TriCore CPU
2 – Nvidia Parker SoC**
1 – Nvidia Pascal GPU
1 – Infineon TriCore CPU
2 – Tesla chips, each including 12 Exynos 64-bit ARM cores, 2 GPUs, 2 neural network processors and 1 lockstep CPU
RAM 256 MB 6 GB 8 GB 8 GB x 2
Flash Memory 4 GB x 2
Processing Power 1x 40x 40x w/redundancy 420x w/redundancy
Frames per second 36 110 110 2300
Estimated Power 25W 250W
(Idle 40W)
300W 220W
Steering Rack Single Power Single Power Redundant Power

* In a camera each pixel is represented by 4 photoreceptors, with a combination of filters: C=Clear, R=Red, G=Green, B=Blue.  Multiple same filters for a pixel increases the light sensitivity. With RCCB, there is no green filter to improve nighttime light sensitivity, and green can be calculated to make a color image for the dashcam.

** Pascal SoC includes 2 Denver and 4 ARM A57 CPU Cores and a Pascal GPU

Retrofits

Tesla has stated all owners who purchased Full-Self-Driving (FSD) option will get a free upgrade to the HW3 ECU processor, once software becomes available to take advantage of the new hardware. A tweet from Elon on 13-Apr-2019 states “Tesla will start FSD computer upgrade in a few months” for those that already purchased FSD.

For owners of HW2.0 cars, the addition of HW3 ECU will provide the hardware necessary for FSD but is not expected to provide the two features HW2.5 vehicles enjoy – Dashcam and Sentry mode with local video storage. We suspect the HW3 retrofit could offer at least a monochrome dashcam on HW2.0 cars, but so far it appears Tesla is limiting the feature to cars equipped with HW2.5 color cameras.  HW2.0 does get Sentry mode without video recording to scare those that get close to the car. The sentry mode video is uploaded to Tesla’s servers. It is not yet clear how owners can access this video.

Autopilot and Safety Related Features

Autopilot

The Tesla Autopilot terminology has changed over the years. The first Autopilot system, using one camera, is now informally referred to as AP1.  Starting with the new hardware HW2.0, Tesla changed the feature name to Enhanced Autopilot (EAP) with several extra features. In March-2019, Tesla dropped EAP and created a lower cost, less featured Autopilot simply called AP. In April, this became standard on all new cars ordered from the web (It’s not standard on the special order Model 3 SR).  This new AP is a subset of EAP features, with other EAP features being moved into the FSD (Full-Self-Driving) feature set.

Those owners that purchased EAP will continue to get all of the EAP features and are expected to receive  upgrades in the future. Enhanced summon for example is a FSD feature, but EAP owners will also get this feature.

FSD features are optional, and can be purchased with a new car, or purchased and activated later.

The following feature chart only applies to vehicles made on 17-Aug-2014 and later. Earlier cars do not have any of these features.

Feature No AP AP1 AP* EAP* FSD*
Front Collision Avoidance Yes Yes Yes Yes Yes
Lane Departure Warning Yes Yes Yes Yes Yes
Side Collision Avoidance Yes* No*** Yes Yes Yes
TACC No Yes Yes Yes Yes
Autosteer, accelerate and brake No Yes Yes Yes Yes
Autopark No Yes No Yes Yes
Auto Lane Change No Yes** No Yes Yes
Read Speed Signs No Yes Future Future Future
Summon No Yes No Yes Yes
Enhanced Summon No No No Yes Yes
Navigate on Autopilot No No No Yes Yes
Respond to Traffic lights and stop signs No No No No Yes
Full Self Driving No No No No Future

* Requires HW2.0 or later or all Model 3 vehicles
** AP1 requires confirmation when traffic safe
*** Was available prior to v8.0 software, but not was all that effective and was removed

 

Autonomous Driving

The following chart shows the levels of autonomous driving that is generally accepted:

SAE Level Description Monitored By
0 No automation Driver
1 Assisted driving, typically with cruise control Driver
2 Advanced assisted driving with steering, braking and steering in select environments Driver
3 Conditional automated driving, but driver may be asked to take over System
4 Highly automated driving, driver not required to take over System
5 Fully automated driving can handle anything a human can. System

As of the start of 2019, Tesla offers a level 2 type autonomous automation option. Tesla’s goal is to transition to level 3 and eventually to level 5, which is called FSD. Tesla announced in April-2019 that FSD will be feature complete by the end of 2019 (internal) and may be partially available to customers in summer 2020 depending on regulations. Complete FSD will depend on regulatory approvals in each jurisdiction, perhaps at the end of 2020 for USA and later for other countries.

Keep in mind there are conditions where FSD will not work, conditions where humans should not drive either, although some humans foolishly try. Some of these conditions include:

  • Heavy fog
  • Heavy snow/whiteout
  • Deep snow on roads
  • Hail
  • Floods
  • Monsoons
  • High Winds (Hurricanes & Tornadoes)
  • Fires sweeping over a road
  • Lava flows
  • Mudslides

For 99.99% of daily driving, FSD should work fine – just like humans. We suspect at some point FSD may even be tied into the weather network to determine if there will be an impediment to reaching the destination and advise of the issue.

 

Part Numbers
part structure

 

Item Model Part Number
MCU1 S/X 1084333-00-A
MCU2 S/X 1451809-S0-B
Autopilot ECU 2.0 S/X 1078321-00-C (MS)
1078321-70-C
1078321-70-D
1078321-70-G
Autopilot ECU 2.5 S/X 1125800-70-C
1125800-70-G
Autopilot ECU 3.0 S/X 1655000-00-F*
1655000-70-F
MCU & Autopilot ECU ** 3 1098058-S0-L

* The 00 variant has HDMI port, perhaps for development
** Model 3 MCU and Autopilot ECU are two boards in the same module and are functionally similar to the S/X MCU2’s computer and Autopilot ECU 2.5