Elon Musk owned Tesla has introduced an option for some customers to subscribe to its advanced driver assistance software, dubbed “Full Self-Driving capability”, for $199 per month, instead of paying $10,000 upfront.

Only Teslas that have the FSD computer hardware 3.0 (HW3) or above plus either Basic or Enhanced Autopilot configurations are eligible to subscribe to FSD; other owners can purchase a hardware upgrade for $1,500 to make their vehicles FSD-ready.

Tesla Chief Executive Elon Musk forecast in 2019 that robotaxis with no human drivers would be available in some U.S. markets in 2020. In March, Tesla told a California regulator that it may not achieve full self-driving technology by the end of this year. 

Tesla has been testing its new semi-autonomous driving software for city streets and last week released “FSD Beta v9” to a limited number of customers.