Tesla recently announced that all new Model X and Model S cars will receive its next-generation full self-driving hardware, which will allow for Level 5 autonomy by the end of next year. Unfortunately, not all of the features will be made available to customers, pending the roll out of its latest Autopilot 8.1 software. Recently, company CEO, Elon Musk, has revealed that the update will arrive in “about three weeks.”

Answering the question posted to him on Twitter, Musk also added that software revisions will be rolled out incrementally to the cars via monthly releases. As stated on the company’s official website, Enhanced Autopilot will arrive as an over-the-air update in December 2016, subject to regulatory approval.

The update will add capabilities such as being able to match the vehicle speed to traffic conditions, keep within a lane, automatically change lanes without requiring driver input, transition from one freeway to another, exit the freeway when approaching a destination, self-park and be summoned to and from a garage.

Tesla’s aims to ensure its vehicles, with full self-driving capability (by next year), is able to achieve a “safety level substantially greater than that of a human driver.” It has even released a video demonstrating just how capable a fully autonomous Tesla is, and vowed to undertake a coast-to-coast US road trip without any driver input in 2017.