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Tesla release notes detail remedies to address NHTSA Autopilot “recall”
By the time news of Tesla’s Autopilot “recall” was published earlier this week, the company was already in the process of rolling out a free over-the-air software update for the advanced driver-assist system’s alleged safety issues. As per the National Highway Traffic Safety Administration’s (NHTSA) Safety Recall Report, software version 2023.44.30 would include Autopilot’s required remedies.
The Autopilot “recall” covers over 2 million vehicles, including legacy vehicles like model year 2012 Model S sedans. As noted by the NHTSA, Tesla’s default safety checks for the affected vehicles’ Autosteer function may prove inadequate, which may result in drivers abusing the system and potentially increasing their chances of meeting an accident on the road.
As could be seen in the release notes of software version 2023.44.30, which were posted by Tesla software tracking service Not a Tesla App, the changes to Autopilot’s driver checks are quite notable. Following are the pertinent sections of the 2023.44.30 release notes related to Tesla’s prolific 2-million-vehicle “recall.”
2023.44.30 Release Notes
Over-the-Air (OTA) Recall
In accordance with a recent recall (campaign #23V-838 for US and #2023-657 for Canada), Tesla is making the following improvements to Autosteer:
– Improved visibility of driver monitoring warning alerts on the touchscreen by increasing the text size and moving the notifications to a more prominent position (Model 3 and Model Y only).
– Added option to activate Autopilot features with a single stalk depression, instead of two, to help simplify activation and disengagement.
– Increased the strictness of driver attentiveness requirements when using Autosteer and approaching traffic lights and stops signs off-highway.
– Introduced a Suspension Policy that will restrict Autosteer usage for one week if improper usage is detected. Improper usage is when you, or another driver of your vehicle, receive five “Forced Autopilot Disengagements.”
You are the driver. As the driver, you must be vigilant to the road, keep your hands on the wheel, and be ready to intervene to maintain safety.
Autopilot Suspension
For maximum safety and accountability, use of Autopilot features will be suspended if improper usage is detected. Improper usage is when you, or another driver of your vehicle, receive five ‘Forced Autopilot Disengagements’. A disengagement is when the Autopilot system disengages for the remainder of a trip after the driver receives several audio and visual warnings for inattentiveness. Driver-initiated disengagements do not count as improper usage and are expected from the driver. Keep your hands on the wheel and remain attentive at all times. Use of any hand-held devices while using Autopilot is not allowed.
Autopilot features can only be removed per this suspension method and they will be unavailable for approximately one week.
FSD Beta 11.4.9
-Added option to activate Autopilot with a single stalk depression, instead of two, to help simplify activation and disengagement.
-Introduced a new efficient video module to the vehicle detection, semantics, velocity, and attributes networks that allowed for increased performance at lower latency.This was achieved by creating a multi-layered, hierarchical video module that caches intermediate computations to dramatically reduce the amount of compute that happens at any particular time.
-Improved distant crossing object detections by an additional 6%, and improved the precision of vehicle detection by refreshing old datasets with better autolabeling and introducing the new video module.
-Improved the precision of cut-in vehicle detection by 15%, with additional data and the changes to the video architecture that improve performance and latency.
-Reduced vehicle velocity error by 3%, and reduced vehicle acceleration error by 10%, by improving autolabeled datasets, introducing the new video module, and aligning model training and inference more closely.
-Reduced the latency of the vehicle semantics network by 15% with the new video module architecture, at no cost to performance.
-Reduced the error of pedestrian and bicycle rotation by over 8% by leveraging object kinematics more extensively when jointly optimizing pedestrian and bicycle tracks in autolabeled datasets.
-Improved geometric accuracy of Vision Park Assist predictions by 16%, by leveraging 10x more HW4 data, tripling resolution, and increasing overall stability of measurements.
-Improved path blockage lane change accuracy by 10% due to updates to static object detection networks.
Cabin Camera
The cabin camera above your rearview mirror can now determine driver inattentiveness and provide you with audible alerts, to remind you to keep your eyes on the road when Autopilot is engaged. Camera images do not leave the vehicle itself, which means the system cannot save or transmit information unless you enable data sharing. To change your data settings, tap Controls > Software > Data Sharing on your car’s touchscreen.
The NHTSA document also noted that Tesla Model S, Model 3, Model X, and Model Y vehicles that were produced from midday December 7, 2023 are not covered by the recall. This was because the vehicles were already loaded with 2023.44.30 out of the factory.
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News
Lemonade launches Tesla FSD insurance program in Oregon
The program was announced by Lemonade co-founder Shai Wininger on social media platform X.
Tesla drivers in Oregon can now receive significant insurance discounts when using FSD, following the launch of Lemonade’s new Autonomous Car insurance program.
The program was announced by Lemonade co-founder Shai Wininger on social media platform X.
Lemonade launches FSD-based insurance in Oregon
In a post on X, Wininger confirmed that Lemondade’s Autonomous Car insurance product for Tesla is now live in Oregon. The program allows eligible Tesla owners to receive roughly 50% off insurance costs for every mile driven using Tesla’s FSD system.
“And… we’re ON. @Lemonade_Inc’s Autonomous Car for @Tesla FSD is now live in Oregon. Tesla drivers in Oregon can now get ~50% off their Tesla FSD-driven miles + the best car insurance experience in the US, bar none,” Wininger wrote in his post.
As per Lemonade on its official website, the program is built on Tesla’s safety data, which indicates that miles driven using FSD are approximately twice as safe as those driven manually. As a result, Lemonade prices those miles at a lower rate. The insurer noted that as FSD continues to improve, associated discounts could increase over time.
How Lemonade tracks FSD miles
Lemonade’s FSD discount works through a direct integration with Tesla vehicles, enabled only with a driver’s explicit permission. Once connected, the system distinguishes between miles driven manually and those driven using FSD, applying the discount automatically to qualifying miles.
There is no minimum FSD usage requirement. Drivers who use FSD occasionally still receive discounted rates for those miles, while non-FSD miles are billed at competitive standard rates. Lemonade also emphasized that coverage and claims handling remain unchanged regardless of whether a vehicle is operating under manual control or FSD at the time of an incident.
The program is currently available only to Teslas equipped with Hardware 4 or newer, running firmware version 2025.44.25.5 or later. Lemonade also allows policyholders to bundle Tesla insurance with renters, homeowners, pet, or life insurance policies for additional savings.
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Tesla exec: Preparations underway but no firm timeline yet for FSD rollout in China
The information was related by Tesla China Vice President Grace Tao in a comment to local media.
Tesla has not set a specific launch date for Full Self-Driving in China, despite the company’s ongoing preparations for a local FSD rollout.
The information was related by Tesla China Vice President Grace Tao in a comment to local media.
Tesla China prepares FSD infrastructure
Speaking in a recent media interview, the executive confirmed that Tesla has established a local training center in China to support the full adaptation of FSD to domestic driving conditions, as noted in a report from Sina News. However, she also noted that the company does not have a specific date when FSD will officially roll out in China.
“We have set up a local training center in China specifically to handle this adaptation,” Tao said. “Once officially released, it will demonstrate a level of performance that is no less than, and may even surpass, that of local drivers.”
Tao also emphasized the rapid accumulation of data by Tesla’s FSD system, with the executive highlighting that Full Self-Driving has now accumulated more than 7.5 billion miles of real-world driving data worldwide.
Possible 2026 rollout
The Tesla executive’s comments come amidst Elon Musk’s previous comments suggesting that regulatory approval in China could arrive sometime this 2026. During Tesla’s annual shareholder meeting in November 2025, Musk clarified that FSD had only received “partial approval” in China, though full authorization could potentially arrive around February or March 2026.
Musk reiterated that timeline at the World Economic Forum in Davos, when he stated that FSD approval in China could come as early as February.
Tesla’s latest FSD software, version 14, is already being tested in more advanced deployments in the United States. The company has also started the rollout of its fully unsupervised Robotaxis in Austin, Texas, which no longer feature safety monitors.
News
Tesla Semi lines up for $165M in California incentives ahead of mass production
The update was initially reported by The Los Angeles Times.
Tesla is reportedly positioned to receive roughly $165 million in California clean-truck incentives for its Semi.
The update was initially reported by The Los Angeles Times.
As per the Times, the Tesla Semi’s funding will come from California’s Hybrid and Zero-Emission Truck and Bus Incentive Project (HVIP), which was designed to accelerate the adoption of cleaner medium- and heavy-duty vehicles. Since its launch in 2009, the HVIP has distributed more than $1.6 billion to support zero-emission trucks and buses across the state.
In recent funding rounds, nearly 1,000 HVIP vouchers were provisionally reserved for the Tesla Semi, giving Tesla a far larger share of available funding than any other automaker. An analysis by the Times found that even after revisions to public data, Tesla still accounts for about $165 million in incentives. The next-largest recipient, Canadian bus manufacturer New Flyer, received roughly $68 million.
This is quite unsurprising, however, considering that the Tesla Semi does not have a lot of competition in the zero-emissions trucking segment.
To qualify for HVIP funding, vehicles must be approved by the California Air Resources Board and listed in the program catalog, as noted in an electrive report. When the Tesla Semi voucher applications were submitted, public certification records only showed eligibility for the 2024 model year, with later model years not yet listed.
State officials have stated that certification details often involve confidential business information and that funding will only be paid once vehicles are fully approved and delivered. Still, the first-come, first-served nature of HVIP means large voucher reservations can effectively crowd out competing electric trucks. Incentive amounts for the Semi reportedly ranged from about $84,000 to as much as $351,000 per vehicle after data adjustments.
Unveiled in 2017, the Tesla Semi has seen limited deliveries so far, though CEO Elon Musk has recently reiterated that the Class 8 all-electric truck will enter mass production this year.
Lemonade launches Tesla FSD insurance program in Oregon
Tesla exec: Preparations underway but no firm timeline yet for FSD rollout in China
