This update includes Full Self-Driving v10.7 for eligible vehicles and regions.

Release Notes

FSD Beta v10.7

  • Improved object attributes network to reduce false cut-in slowdowns by 50% and lane assignment error by 19%.
  • Improved photon-to-control vehicle response latency by 20% on average.
  • Expanded use of regenerative braking in Autopilot down to 0mph for smoother stops and improved energy efficiency.
  • Improved VRU (pedestrians, bicyclists, motorcycles, animals) lateral velocity error by 4.9% by adding more auto-labeled and simulated training examples to the dataset.
  • Reduced false slowdowns for crossing objects by improved velocity estimates for objects at the end of visibility.
  • Reduced false slowdowns by adding geometric checks to cross-validate lane assignment of objects.
  • Improved speed profile for unprotected left turns when visibility is low.
  • Added more natural behavior to bias over bike lanes during right turns.
  • Improved comfort when yielding to jaywalkers by better modelling of stopping region with soft and hard deadlines.
  • Improved smoothness for merge control with better modelling of merge point and ghost objects positioned at the edge of visibility.
  • Improved overall comfort by enforcing stricter lateral jerk bounds inbtrajectory optimizer.
  • Improved short deadline lane changes through richer trajectory modeling.
  • Improved integration between lead vehicle overtake and lane change gap selection.
  • Updated trajectory line visualization.
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Which models received this update.

Model S 0
Legacy 0
Refresh 0
Model 3 1
Model X 0
Legacy 0
Refresh 0
Model Y 1


The regions that we've detected this update.

United States 2


The daily rollout of this update.

December 19, 2021 2

Previous Update

Which update did vehicles originate from.

2021.36.8.10 2 (100.0%)

Update History

The historical record of all vehicles that received this update.

Time Previous Version Model HW Country
2021-12-19 16:36 2021.36.8.10 Model 3 Mid-Range (20XX) 3.0 United States
2021-12-19 15:42 2021.36.8.10 Model Y AWD LR (20XX) 3.0 United States