As an upgrade to the base Autopilot capabilities, the company's stated intent is to offer full self-driving (FSD) at a future time, acknowledging that legal, regulatory, and technical hurdles must be overcome to achieve this goal.[4] In 2019, Tesla was ranked last by Navigant Research for both strategy and execution in the autonomous driving sector,[5] and most experts believe that Tesla vehicles don't have the necessary hardware for full self-driving.[6]