Tesla FSD Mistakes Moon for Yellow Traffic Light Clearly, traffic light identification has a long way to go in all semi-autonomous systems, not just Tesla's. Autoweek Tesla's Full Self-Driving system, offered for purchase or via a monthly subscription, offers traffic light and stop sign recognition. Speed limit and traffic light recognition features debuted as part of FSD in Spring 2020. Tesla has begun offering FSD on a subscription basis, but older Tesla models may also require a $1000 hardware upgrade. Tesla's Autopilot driver-assist system has been on the market long enough to generate plenty of data about its ability to identify (of not) impending obstacles, from other vehicles to various concrete structures. After several years on the market, most of the items that tend to confuse Autopilot on a regular basis have been fairly well studied, if not completely eliminated from the roster of things that tend to produce unexpected reactions from the system. Some of the more consequential items have tended to be road lane markings, since Autopilot has relies on them to steer itself within a lane. Fire trucks parked in highway lanes while responding to emergency calls have been another not uncommon foe for the system.