Robotaxi coming! Elon Musk on Tesla's self-driving capabilities - Timeline

April 22 - Musk predicts that Tesla will have autonomous robotaxis without drivers in some U.S. markets in 2020.

April 22 - Musk predicts that "probably two years from now we`ll make a car with no steering wheels or pedals."

April 22 - Musk says that in 2020, Tesla will have "over a million cars with full self-driving, software, everything."

April 22 - Musk says it is "financially insane to buy something other than a Tesla" today because Tesla is the only company to have a full self-driving suite of hardware.

April 15 – Musk says that buying a car that cannot upgrade to full self-driving is like "buying a horse instead of a car in 2019."

April 11 - Tesla says that Autopilot, the company`s advanced driver assistance system, is now standard on all vehicles.

April 3 - Tesla says it is making "significant progress" in development of its autonomous driving software and hardware, including the FSD (Full Self-Driving) computer, saying the computer is in production and will enable full-self driving through over-the-air software updates in future.

February 28 – In response to a media question whether it is problematic that Musk uses the term "full self-driving," Musk replies: "I think we`re very clear when you buy the car what is meant by full self-driving. It means it`s feature complete. Feature complete requiring supervision ... There`s really three steps: feature complete of full self-driving but requiring supervision, feature complete but not requiring supervision, feature complete not requiring supervision and regulators agree."

October 5 - Tesla introduces software version 9.0 with a number of features including `Navigate on Autopilot` – intended to guide a car from a highway`s on-ramp to off-ramp, including suggesting lane changes, navigating highway interchanges and taking exits that would still require driver supervision 

June 11 - Musk tweets that Tesla`s Autopilot driver assistance system will get full self-driving features following a software upgrade in August

May 23 - Two U.S. consumer advocacy groups urge the Federal Trade Commission to investigate Tesla`s "deceptive and misleading" use of the name Autopilot for its assisted-driving technology

February 2018 - Musk says Tesla can do a coast-to-coast autonomous drive in three months, six months at most

October 19 - Musk says he expects that by the end of 2017 a Tesla would be able to drive in full autonomous mode from Los Angeles to New York "without the need for a single touch" on the wheel.

October - Tesla begins to sell a "Full Self-Driving Capability" option in its vehicles for $3,000, on top of the $5,000 price for "Enhanced Autopilot." Musk says full self-driving features will be rolled out in future via over-the-air updates when available. The option was removed in October 2018, then reinstated in February 2019.

October– Musk says all new Teslas built have the hardware required for full self-driving. 

October 15 – Tesla launches an advanced driver assistance system called Autopilot, with Musk cautioning that drivers should keep their hand on the wheel.