FSDClarity

Which Teslas Have HW4? Full Model and Year Breakdown

3 min readBy the FSDClarity team

On this page

Teslas with HW4 (also called AI4): every Model 3 from the 2024 refresh onward, US-built Model Ys from about May 2023, Model S and Model X from early 2023, and every Cybertruck. Earlier cars have HW3. In 2023, the Model S, Model X and Model Y switched partway through the year, so a 2023 car can have either — check the car itself.

Hardware Version Checker
Find out which Autopilot computer your Tesla most likely has — HW3 or HW4 — and what that means for FSD.

HW4 cutover dates by model

ModelLast HW3First HW4
Model 32023 model year2024 refresh
Model Y (US-built)Early 2023About May 2023
Model SEarly 2023Early 2023
Model XEarly 2023Early 2023
Cybertruck—All, from launch

Factories outside the US switched at slightly different times, which is one more reason to confirm on the car.

Model 3

Every Model 3 built before the refreshed 2024 model has HW3 — including all 2023 cars. The refreshed Model 3, which arrived in the US in early 2024, has HW4. If a listing calls a 2023 Model 3 "HW4," it's wrong.

Model Y

US-built Model Ys switched to HW4 around May 2023. That makes the 2023 model year the one to check carefully: early-2023 cars have HW3, later ones HW4. Every 2024 and newer Model Y has HW4.

Model S and Model X

The Model S and Model X switched to HW4 in early 2023. Most 2023 cars have it; the earliest 2023 builds may still have HW3. Every 2024+ Model S and Model X has HW4.

Cybertruck

Every Cybertruck has HW4, from the first deliveries in late 2023.

HW4.5 and AI5

Tesla has talked about an intermediate board and its next-generation AI5 computer, with volume production pointed at around 2027 and AI5 initially prioritized for other projects. No customer Tesla has AI5 as of late 2026, so any listing claiming "HW5" or "AI5" on a current car is mistaken.

How to check any car

  1. Touchscreen: Controls > Software > Additional Vehicle Information lists AI3 (HW3) or AI4 (HW4).
  2. Front cameras: HW4 cameras behind the windshield have red-tinted lenses; HW3 cameras look black.
  3. Build date: the label in the driver's door jamb shows the month and year of manufacture.

Why it matters

HW4 cars get new FSD versions first, are Tesla's target for unsupervised FSD, and qualify for Lemonade's FSD insurance discount. For the full comparison, see Tesla HW3 vs HW4.

Frequently asked questions

Does the 2023 Model Y have HW4?

Some do. US-built Model Ys switched around May 2023, so check the car.

Does the 2023 Model 3 have HW4?

No. HW4 came with the refreshed 2024 Model 3.

Do all 2024 Teslas have HW4?

Yes — every 2024 Model 3, Model Y, Model S, Model X and Cybertruck.

What is HW4 in a Tesla?

Tesla's fourth-generation self-driving computer and camera set, also called AI4, with more computing power and higher-resolution cameras than HW3.

The bottom line

If it's a 2024 or newer Tesla, it has HW4; if it's a 2023 Model S, X or Y, check the car; and every Model 3 before 2024 has HW3. Confirm any specific car with the Tesla Hardware Checker.

Related guides