Entrepreneur Elon Musk announced Wednesday that his Tesla car company is working on an improved full-self driving, or FSD, model that may be ready to roll soon.

The “interim” package announced on Monday was intended to help retain Elon Musk, whose previous pay plan was invalidated by a judge.

Elon Musk and Tesla were sued by shareholders who accused them of securities fraud for concealing the significant risk that the company's self-driving vehicles, including the Robotaxi, were dangerous.