Tesla has officially started rolling out Full Self-Driving (Supervised) v14.1 Lite to Early Access testers equipped with Hardware 3 (AI3), packaged within the newly deployed 2026.21.6 software update. While the update brings the highly anticipated v14.1 Lite architecture to older hardware configurations, the official release notes remain unchanged. The push is primarily a maintenance release, focusing heavily on under-the-hood bug fixes, stability optimizations, and refining the driving behavior of the new architecture before a wider fleet release.
Tesla appears to be stabilizing the V14.1 Lite build alongside the AI4-specific V14.3.7, potentially planning to merge them into a unified wide release shortly. Now, HW3 owners receiving 2026.21.6 can expect a smoother and more reliable underlying driving model, even without shiny new features on the display.
Official Release Notes
FSD (Supervised) v14.1 Lite
FSD (Supervised) v14.1 Lite includes:
- Distilled the intelligence from HW4 V14 into HW3. This allows HW3 to directly learn how to handle scenarios using HW4 V14 as a guide. This process unlocks the improvements that have been made to HW4 including Reinforcement Learning (RL) and offline models for HW3.
- Improved both proactive and reactive responsiveness across a wide variety of categories including navigation handling, merges and forks, pedestrian interactions, traffic lights, and vehicle cut-in scenarios.
- Improved general comfort in nominal scenarios through fewer false slowdowns, smoother steering and more consistent lane centering.
- Introduced parking, unparking, and reversing capabilities.
- Added Arrival Options for you to select where FSD should pull over or park: in a Parking Lot, on the Street, in a Driveway.
- Speed Profiles are now available at all times, to further customize driving style preference.
Arrival Options
- You can now select an arrival option such as Parking Lot, Street, Driveway, and Pull Over for Robotaxi-style drop offs.
- Your preferences for arrival options and preferred parking positions are persisted for each destination.
Speed Profiles
FSD (Supervised) will now determine the appropriate speed based on a mix of driver profile, speed limit, and surrounding traffic.
- Introduced new Speed Profile SLOTH, which comes with lower speeds & more conservative lane selection than CHILL.
- Driver profile now has a stronger impact on behavior. The more assertive the profile, the higher the max speed.
- Right scroll-wheel up/down now adjusts Speed Profile setting rather than your precise max speed offset selection in mph/kph.
UI Improvements
Adjust settings like the Speed Profile and Arrival Options directly from the Self-Driving visualization on the center display.
Start Self-Driving from Park
A button will appear on the screen when driver requirements are met. Driver requirements include (but are not limited to):
- Driver is seated in driver’s seat
- Driver is buckled
- Cabin Camera is unobstructed
Brake Confirm requires the driver to press and release the brake pedal before FSD (Supervised) can be activated. When Brake Confirm is disabled, pressing the button will allow Self-Driving to apply the brakes and engage FSD (Supervised). If driver detection requirements are not met or if FSD (Supervised) does not detect a driver, you will be required to press and release the brake pedal to confirm. You can enable Brake Confirm in Self-Driving > Brake Confirm.
This feature does not make your vehicle autonomous and you must remain attentive and be ready to take over at any time. Only a licensed driver authorized to operate the vehicle should be allowed access to the driver’s seat position any time the vehicle is not in Theater or Arcade modes.
Full Self-Driving (Supervised)
Under your supervision, Full Self-Driving (Supervised) can drive your Tesla almost anywhere. It will start from a parked position, make lane changes, select forks to follow your navigation route, navigate around other vehicles and objects, make left and right turns and park at your destination. You and anyone you authorize must use additional caution and remain attentive. It does not make your vehicle autonomous. Do not become complacent.
Full Self-Driving (Supervised) is enabled on your vehicle. To use the feature, press the Start Self-Driving button on the UI, or press the right scroll wheel button once. You can disable Full Self-Driving (Supervised) in Self-Driving Settings.
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