If you want a chime to sound when you engage or cancel Traffic-Aware Cruise Control, touch Controls > Autopilot >
Traffic-Aware Cruise Control Chime.
WARNING: Traffic-Aware Cruise Control is designed for your driving comfort and convenience and is not a
collision warning or avoidance system. It is your responsibility to stay alert, drive safely, and be in control of the
vehicle at all times. Never depend on Traffic-Aware Cruise Control to adequately slow down Model 3. Always
watch the road in front of you and be prepared to take corrective action at all times. Failure to do so can result
in serious injury or death. For more information, see Limitations and Warnings on page 155.
Autosteer
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may
not be equipped with Autosteer, or the feature may not operate exactly as described.
To enable Autosteer:
1. Touch Controls > Autopilot > Autopilot Features > Autosteer (Beta).
2. After carefully reading and understanding the popup window, touch Yes.

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To indicate that Autosteer is available (but not actively steering Model 3), the top corner of the
touchscreen displays a gray Autosteer icon next to the driving gear. In situations where Autosteer is
temporarily unavailable, the Autosteer icon disappears. (For example, if your driving speed is not within
the speed required for Autosteer to operate.)
To indicate that Autosteer is now active, the touchscreen displays the Autosteer icon in blue. When
Autosteer is able to detect lane markings, it also displays the driving lane in blue.

To initiate Autosteer, move the drive stalk fully down twice in quick succession.
NOTE: If the setting for Autosteer Activation is set to Single Pull, pulling the drive stalk down once engages
Autosteer (see Autopilot Settings on page 124).

Autosteer confirms activation with an audible chime and briefly displays a message on the touchscreen reminding
you to pay attention to the road and be ready to take over at any time.
Whenever Autosteer is active, Traffic-Aware Cruise Control is active as well.
In situations where the speed limit cannot be detected when Autosteer is engaged, Autosteer reduces your driving
speed and limits the set cruising speed to 45 mph (70 km/h). Although you can manually accelerate to exceed the
limited speed, Model 3 will not brake for detected obstacles as long as you are applying the accelerator pedal.
Autosteer slows down to the limited speed when you release the accelerator pedal. When you leave the road or
disengage Autosteer by using the steering wheel, you can increase your set speed again, if desired.
WARNING: Autosteer is a hands-on assistance feature. Keep your hands on the steering wheel at all times, be
mindful of road conditions and surrounding traffic, and always be prepared to take immediate action. Failure to
follow these instructions could cause damage, serious injury or death. It is your responsibility to familiarize
yourself with the limitations of Autosteer and the situations in which it may not work as expected. For more
information, see Limitations and Warnings on page 155.
Auto Lane Change
If you engage a turn signal while Autosteer is active, Model 3 moves into the adjacent lane in the direction indicated
by the turn signal, provided the following conditions are met:
• The turn signal is engaged.
• Lane markings indicate that a lane change is permitted.
• Midway through the lane change, Model 3 must detect the target lane's outside lane marking. If this lane marking
is not detected, the lane change is aborted and Model 3 returns to its original driving lane.
• The view of the camera(s) is not obstructed.

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• Model 3 does not detect a vehicle in its blind spot, or a vehicle or obstacle up to the center of the target lane. If a
vehicle or other obstacle is detected in the target lane, it is shown in red in the visualization on the touchscreen
and Model 3 does not complete the lane change until it is safe to do so.
WARNING: Although Autopilot is designed to detect vehicles and obstacles in adjacent lanes, it is your
responsibility to always perform visual checks to make sure it is safe and appropriate to move into the target
lane. If Autopilot cannot change lanes due to inadequate data, the touchscreen displays a series of warnings.
Therefore, when using Auto Lane Change, always pay attention to the touchscreen and be prepared to
manually steer Model 3.
The minimum speed at which Autopilot changes lanes may vary depending on region, adjacent lane speeds, and
other factors. Always be ready to manually steer and change lanes as necessary. When an automatic lane change is
in progress, Overtake Acceleration is activated, allowing Model 3 to accelerate closer to a vehicle in front (see
Overtake Acceleration on page 134).
When you engage a turn signal, Autopilot moves Model 3 one lane at a time. Moving into an additional lane requires
you to engage the turn signal a second time after the first lane change is complete.
As Model 3 changes lanes, it is important to monitor its performance by watching the driving path in front of you
and the surrounding area. Stay prepared to take over steering at any time. As you are crossing over into the adjacent
lane, the touchscreen displays the location in the lane that Model 3 is moving into.

Navigate on Autopilot
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may
not be equipped with Navigate on Autopilot, or the feature may not operate exactly as described.
To enable Navigate on Autopilot, touch Controls > Autopilot > Navigate on Autopilot (Beta). Then, to customize
how you want Navigate on Autopilot to operate, touch Customize Navigate on Autopilot:
• Enable at Start of Every Trip: Choose whether to automatically enable Navigate on Autopilot for every navigation
route. When enabled, the Navigate on Autopilot button on the turn-by-turn direction list is already enabled at the
start of every trip.
• Speed Based Lane Changes: Navigate on Autopilot is designed to perform both route-based and speed-based
lane changes. Speed-based lanes changes are optional. You can use this setting to disable speed-based lane
changes or to specify how assertively you want Navigate on Autopilot to change lanes to achieve the set cruising
speed (Mild, Average, or Mad Max).
• Exit Passing Lane: Choose whether you want Navigate on Autopilot to maneuver out of a passing lane when
navigating to a destination. In addition to route-based and speed-based lane changes, Navigate on Autopilot
requests a lane change out of a passing lane as a reminder to stay in a slower lane when you are not passing
other vehicles. Choose No to disable this and keep Model 3 in a passing lane except when needed to stay on the
navigation route.
If Enable at Start of Every Trip is turned on, Navigate on Autopilot engages automatically when:

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• Autosteer is active.
• You are navigating to a destination.
• You are on a controlled-access highway.
Once enabled, the Navigate on Autopilot button appears on the map’s turn-by-turn direction list whenever a
navigation route is active and the route includes at least one controlled-access highway.
If Enable at Start of Every Trip is turned off, touch the Navigate on Autopilot button above the turn-by-turn
directions to enable it. Once the Navigate on Autopilot is selected, it will engage whenever you engage Autosteer.
The Navigate on Autopilot icon shows in the turn-by-turn direction list when you are navigating to a
destination and Navigate on Autopilot is available but not active.

If Navigate on Autopilot is active, the icon is blue. If Enable at Start of Every Trip is turned on, the
Navigate on Autopilot icon is selected whenever you start navigation. Touch the icon to cancel
Navigate on Autopilot and revert to Autosteer.

Whenever Navigate on Autopilot is active, the Navigate on Autopilot button is blue and the touchscreen displays the
driving lane as a single blue line in front of Model 3:

The turn-by-turn directions display the Autosteer icon next to the maneuvers (such as off-ramps) that Navigate on
Autopilot will handle.
When Navigate on Autopilot is engaged, Model 3 automatically makes both speed-based and route-based lane
changes:
• Speed Based Lane Changes: Navigate on Autopilot changes lanes to reduce driving time to your destination. For
example, if Model 3 is behind a vehicle going below the set cruising speed, Navigate on Autopilot will move into
the passing lane to pass it. Speed-based lanes changes are optional.
• Route Based Lane Changes: Navigate on Autopilot changes lanes to route you to your destination. For example,
Navigate on Autopilot will move into the exit lane as Model 3 approaches the off-ramp specified by the navigation
route.
If you ignore a route-based lane change suggestion (for example, you are driving in the left lane while approaching
an off-ramp on the right side of the highway), Navigate on Autopilot is unable to maneuver onto the off-ramp and as
a result, you are re-routed to your destination.
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NOTE: When determining navigation routes, and maneuvers at interchanges, Navigate on Autopilot considers
whether or not you want to use High Occupancy Vehicle (HOV) lanes. Therefore, ensure the Use HOV Lanes setting
is appropriate for your circumstances (see Maps and Navigation on page 188). If the setting is off, Navigate on
Autopilot never uses a HOV lane, regardless of time of day. If the setting is on, Navigate on Autopilot uses HOV
lanes, whenever applicable.
CAUTION: Navigate on Autopilot may not always attempt to exit at an off-ramp or change lanes, even when an
exit or lane change is determined by the navigation route. Always remain alert and be prepared to manually
steer onto an off-ramp, or make a lane change to prepare for, or to exit at, an off-ramp or interchange.
Navigate on Autopilot activates and deactivates based on the type of road you are driving on. When Navigate on
Autopilot is active and you approach an off-ramp or interchange along your navigation route, the appropriate turn
signal engages and Autosteer maneuvers Model 3 onto the off-ramp or interchange.
When you leave a controlled-access highway Navigate on Autopilot reverts to Autosteer—a chime sounds and the
touchscreen displays the driving lane lines in blue (instead of the single blue in front of Model 3). When Navigate on
Autopilot deactivates, Autosteer remains active. Always be prepared to take appropriate action.
WARNING: Navigate on Autopilot is a hands-on feature. Keep your hands on the steering wheel at all times, be
mindful of road conditions and surrounding traffic, and always be prepared to take immediate action. Failure to
follow these instructions could cause damage, serious injury or death. It is your responsibility to familiarize
yourself with the limitations of Navigate on Autopilot and the situations in which it may not work as expected.
For more information, see Limitations and Warnings on page 155.
Canceling Autopilot
Traffic-Aware Cruise Control cancels when:
• You move the drive stalk upward.
◦ CAUTION: If you move the drive stalk upward and hold it up for more than one second, Model 3 shifts into
Neutral after canceling Autosteer.
• You press the brake pedal.
• You exceed 90 mph (150 km/h).
• You shift into Reverse, Park, or Neutral.
• A door is opened.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 164).
• The driver's seatbelt is released, and/or the driver gets out of their seat.

When Traffic-Aware Cruise Control cancels, the cruising speed icon on the touchscreen turns gray to indicate that
Traffic-Aware Cruise Control is no longer active.
Autosteer cancels when any of the above actions are taken. In addition, Autosteer cancels when:

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• You exceed 85 mph (140 km/h).
•
WARNING: If Autosteer Activation is set to Double Pull and Autosteer cancels because you , Traffic-Aware
Cruise Control remains active. If Autosteer Activation is set to Single Pull and Autosteer cancels because
you , Traffic-Aware Cruise Control also cancels.
• You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the
touchscreen (see Driver Attentiveness on page 135).
When Autosteer cancels, a chime sounds and the Autosteer icon either turns gray to indicate that Autosteer is no
longer active, or disappears to indicate that it is not currently available.
Navigate on Autopilot cancels when Autosteer cancels, as described above. In addition, Navigate on Autopilot
cancels when:
• You touch the Navigate on Autopilot button on the map’s turn-by-turn direction list. In this case, Autosteer is still
active.
• You leave a controlled-access highway. When this happens, Autosteer is still active.
When Navigate on Autopilot cancels but Autosteer remains active, a chime sounds and the visualization goes from a
single blue line in the driving lane to two blue lines on either side of the lane.
When Traffic-Aware Cruise Control or Autosteer cancels, Model 3 does not coast. Instead, regenerative braking slows
down Model 3 in the same way as when you move your foot off the accelerator when driving without Traffic-Aware
Cruise Control (see Regenerative Braking on page 102).
While Using Autopilot
When Traffic-Aware Cruise Control is active and Autopilot is maintaining a set speed, the speed is highlighted with
blue text on the touchscreen.
When Autosteer is active, the steering wheel icon is blue and the lane markings are highlighted in blue on the
visualization. If Navigate on Autopilot is also active, the Navigate on Autopilot button is blue and the touchscreen
displays the driving lane as a single blue line in front of Model 3.
To display more details about the roadway and its surroundings, such as road markings, stop lights, and objects
(such as trash cans and poles), touch Controls > Autopilot > Full Self-Driving Visualization Preview.
If unable to detect lane markings, Autosteer may determine the driving lane based on a vehicle you are following. In
most cases, Autosteer attempts to center Model 3 in the driving lane. However, there may be situations in which
Autosteer follows a driving path that is offset from the center of the lane (for example, if guard rails are detected).

Maintaining the Set Speed
When Autopilot is active, Model 3 maintains your set cruising speed whenever a vehicle is not detected in front of it.
When cruising behind a vehicle, Model 3 accelerates and decelerates as needed to maintain a chosen following
distance (see Adjusting the Following Distance on page 131), up to the set speed.
You can manually accelerate at any time by pressing the accelerator pedal, but when you release the pedal Model 3
resumes cruising at the set speed.
Model 3 also adjusts the cruising speed when entering and exiting curves.
When Model 3 is actively slowing down to maintain the selected distance from the vehicle ahead, brake lights turn
on. You may notice slight movement of the brake pedal. However, when Model 3 is accelerating, the accelerator
pedal does not move.

Changing the Set Speed
Roll the right scroll wheel up to increase, or down to decrease, the set speed.

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You can also change the cruising speed to the current speed limit (including any offset you've specified), by either:
• Pushing the drive stalk downward and briefly holding.
• Touching and briefly holding the speed limit sign on the touchscreen until you see the cruising speed change.

It may take a few seconds for Model 3 to reach the new cruising speed.

Adjusting the Following Distance
To adjust the following distance you want to maintain between Model 3 and a vehicle traveling ahead of you, press
the steering wheel's right scroll button to the left or right.
NOTE: If Full Self-Driving (Beta) is active, pressing the steering wheel's right scroll button to the left or right changes
the Full Self-Driving (Beta) profile (see Full Self-Driving (Beta) on page 135).
The closest following distance is 2.The closest following distance is 1.

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Each setting corresponds to a time-based distance that represents how long it takes for Model 3, from its current
location, to reach the location of the rear bumper of the vehicle ahead of you. Autopilot retains your setting until you
change it again.
As you adjust the following distance, the touchscreen displays the current setting.

Stopping and Slowdowns
When moving significantly faster than vehicles in adjacent lanes, Model 3 automatically reduces the driving speed.
This is especially helpful in heavy traffic situations or when vehicles are constantly merging into different lanes.
When Model 3 detects other vehicles driving significantly slower, the touchscreen highlights the adjacent lanes with
arrows and detected vehicles in gray, and Model 3 reduces the driving speed as appropriate. To temporarily override
this feature, press the accelerator pedal.

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When following a vehicle, Autopilot remains active at low speeds, even when Model 3 comes to a full stop. For
example, Autopilot remains active even if Model 3 slows down to a complete or near-complete stop in heavy, stopand-go traffic on a highway. When traffic starts moving more rapidly, Autopilot again accelerates up to the set
speed.
Sometimes when Model 3 is at a full stop, Autopilot goes into a HOLD state. If this happens, briefly press the
accelerator pedal to resume cruising.
When the HOLD status is active, the touchscreen displays the HOLD icon and a message that indicates
that you need to resume cruise control.

Model 3 goes into HOLD state while Autopilot is active in the following circumstances:
• Model 3 has been at a standstill for 5 minutes.
• Model 3 detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model 3 suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model 3.

Cruising Near or On Exits
When you are cruising near an exit on a controlled-access highway and engage the turn signal toward the off-ramp,
Autopilot assumes you are exiting and begins to slow down Model 3. If you do not drive onto the off-ramp, Autopilot
resumes cruising at the set speed.
In a region with right hand traffic, this occurs only when you engage the right turn signal when driving in the rightmost lane within 164 ft. (50 meters) of an exit. Likewise in regions with left hand traffic, this occurs when engaging
the left turn signal when driving in the left-most lane within 164 ft. (50 meters) of an exit.
NOTE: If Navigate on Autopilot is active, Model 3 will perform a route-based lane change to enter the exit lane and
take the off-ramp as necessary to follow the navigation route.

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When enabled while on a highway interchange or off-ramp, Traffic-Aware Cruise Control may reduce your set speed
in 5 mph (5 km/h) increments – to as slow as 25 mph (40 km/h) – to better match the reported speeds of other
Tesla vehicles that have driven at that specific location. To override this and continue cruising at your set speed, tap
the accelerator pedal. The new set speed is maintained for the duration of the interchange or off-ramp (unless you
override it or cancel Autopilot). After the interchange or off-ramp, the set speed may revert or change as necessary
based on the new location. For example, if you merged onto a different highway, the set cruising speed reverts to
what it was before driving on the interchange.
WARNING: In some cases (such as having insufficient data), Traffic-Aware Cruise Control may not
automatically reduce the set speed on the highway interchange or off-ramp. Do not rely on Traffic-Aware
Cruise Control to determine an appropriate driving speed. Tesla recommends driving at a speed that is safe for
road conditions and within posted speed limits.
When cruising onto an on-ramp to a controlled-access highway, Autopilot automatically adjusts the set cruising
speed to the speed limit of the highway, plus any offset you have specified. If Navigate on Autopilot is engaged, it
disengages as you leave the controlled-access highway (see Canceling Autopilot on page 129). In this case,
Autosteer remains active.

Overtake Acceleration
Engage the turn signal momentarily to accelerate Model 3 towards the vehicle ahead of it. By momentarily holding
the turn signal stalk up or down, you can quickly accelerate up to your set speed without having to press the
accelerator pedal as long as:
• Traffic-Aware Cruise Control is operating and detects a vehicle in front of you.
• No obstacles or vehicles are detected in the target lane.
• Model 3 is traveling below the set speed, but over 45 mph (72 km/h).
NOTE: If Autosteer is active and you fully engage the turn signal, Model 3 will change lanes automatically (see Auto
Lane Change on page 126).
Model 3 stops accelerating when you reach your set cruising speed, if changing lanes takes too long, or if Model 3
gets too close the vehicle ahead. Model 3 also stops accelerating if you disengage the turn signal.

Stop Light and Stop Sign Warning
While Autopilot is in use, Model 3 displays a warning on the touchscreen and sounds a chime if it detects that you
are likely to run through a red stop light or stop sign. If this happens, TAKE IMMEDIATE CORRECTIVE ACTION!
The visual and audible warnings cancel after a few seconds or when you press the brake pedal, whichever comes
first.
Stop Light and Stop Sign Warning provides warnings only. It does not slow down or stop Model 3 at red traffic lights,
stop signs, road markings, etc. If equipped with Traffic Light and Stop Sign Control, you can enable this feature to
automatically stop Model 3 at traffic lights and stop signs (see Traffic Light and Stop Sign Control on page 141).
Emergency Vehicles
If available in your market region, Model 3 automatically reduces driving speed when lights from an emergency
vehicle are detected when using Autosteer at night on a high speed road. When this happens, the touchscreen
displays a message informing you of the slowdown. You will also hear a chime, and see a reminder to keep your
hands on the steering wheel. When the light detections pass by or cease to appear, Autopilot resumes your cruising
speed. Alternatively, you may tap the accelerator to resume your cruising speed.
Never depend on Autopilot features to determine the presence of emergency vehicles. Model 3 may not detect
lights from emergency vehicles. Keep your eyes on your driving path and always be prepared to take immediate
action.

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Driver Attentiveness
Autosteer determines how best to steer Model 3. When active, Autosteer requires you to hold the steering wheel. If it
does not detect your hands on the steering wheel for a period of time, a flashing blue light appears at the top of the
car status section of the touchscreen and the following message displays:
Apply slight turning force to steering wheel

When your hands are detected, the message disappears and Autosteer resumes normal operation. Autosteer detects
your hands by recognizing slight resistance as the steering wheel turns, or from you manually turning the steering
wheel very lightly (without enough force to take over steering). Autosteer also qualifies your hands as being
detected if you engage a turn signal or use a button or scroll wheel on the steering wheel.
Autosteer requires that you pay attention to your surroundings and remain prepared to take control at any time. If
Autosteer still does not detect your hands on the steering wheel, the flashing light on the car status section of the
touchscreen increases in frequency and a chime sounds.
If you repeatedly ignore Autosteer's prompts to apply slight force to the steering wheel, Autosteer disables for the
rest of the drive and displays the following message requesting you to drive manually.
Autosteer unavailable for the rest of this drive. Hold steering wheel to drive manually.

For the rest of the drive, you must steer manually. Autosteer is available again on your next drive (after you stop and
shift Model 3 into Park).
If you don't resume manual steering, Autosteer sounds a continuous chime, turns on the warning flashers, and slows
the vehicle to a complete stop.
In situations where Autosteer is unable to steer Model 3, Autosteer sounds a warning chime and displays the
following message on the touchscreen.
Take over immediately

When you see this message, TAKE OVER STEERING IMMEDIATELY.

Full Self-Driving (Beta)
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may
not be equipped with Full Self Driving (Beta) (also referred to as Autosteer on City Streets), or the feature may not
operate exactly as described.
When Full Self-Driving (Beta) (also referred to as Autosteer on City Streets) is engaged, Model 3 attempts to drive
to your destination by following curves in the road, stopping at and negotiating intersections, making left and right
turns, navigating roundabouts, and entering/exiting highways.
Unlike Traffic-Aware Cruise Control, Autosteer, and Navigate on Autopilot, which are intended for use on multi-lane
roadways with clear lane markings, Full Self-Driving (Beta) is meant to work in a variety of driving scenarios. You can
use Full Self-Driving (Beta) on any type of roadway, including residential and city streets.

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Always remember that Full Self-Driving (Beta) does not make Model 3 autonomous and requires a fully attentive
driver who is ready to take immediate action at all times. While Full Self-Driving (Beta) is engaged, you must
monitor your surroundings and other road users at all times.
Driver intervention may be required in certain situations, such as on narrow roads with oncoming cars, in
construction zones, or while going through complex intersections. For more examples of scenarios in which driver
intervention might be required, see Limitations and Warnings on page 155.
Full Self-Driving (Beta) uses inputs from cameras mounted at the front, rear, left, and right of Model 3 to build a
model of the area surrounding Model 3 (see Cameras on page 23). The Full Self-Driving computer installed in Model
3 is designed to use this input, rapidly process neural networks, and make decisions to safely guide you to your
destination.
NOTE: Full Self-Driving (Beta) is a beta feature. As Tesla’s Full Self-Driving (Beta) capabilities evolve, Model 3 is
upgraded through over-the-air software updates. Download updates as soon as they become available.
Like other Autopilot features, Full Self-Driving (Beta) requires a fully attentive driver and will display a series of
escalating warnings requiring driver response. You must keep your hands on the steering wheel while Full SelfDriving (Beta) is engaged. In addition, the cabin camera monitors driver attentiveness (see Cabin Camera on page
24).
Use Full Self-Driving (Beta) in limited Beta only if you will pay constant attention to the road and be prepared to act
immediately, especially around blind corners, crossing intersections, and in narrow driving situations. For more
information, see Limitations and Warnings on page 155.
CAUTION: As Full Self-Driving (Beta) deployment expands, Tesla will gradually make it available to eligible
customers in select countries outside of the United States and Canada. Because every country contains unique
infrastructure, driving behaviors, and traffic patterns that Full Self-Driving (Beta) must adapt to over time, it is
essential for drivers using Full Self-Driving (Beta) in newly eligible countries to be extra attentive and overly
cautious. You must be ready to take over safely at any time.
WARNING: Full Self-Driving (Beta) is a hands-on feature that requires you to pay attention to the road at all
times. Keep your hands on the steering wheel at all times, be mindful of road conditions and surrounding
traffic, pay attention to pedestrians and cyclists, and always be prepared to take immediate action. Failure to
follow these instructions could cause damage, serious injury or death. It is your responsibility to familiarize
yourself with the limitations of Full Self-Driving (Beta) and the situations in which it may not work as expected.
For more information, see Limitations and Warnings on page 155.
Before Using Full Self-Driving (Beta)
Before using Full Self-Driving (Beta), you must:
• Ensure that forward-facing cameras are unobstructed and calibrated (see Cameras on page 23). Full Self-Driving
(Beta) depends on the ability of the cameras to detect traffic lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model 3. Although Full Self-Driving (Beta)
primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using the most
recent map data. To check which version of maps is currently downloaded, touch Controls > Software. You must
connect to a Wi-Fi network to receive updated maps (see Map Updates on page 195).
In addition, you must enable Full Self-Driving (Beta) before you can use it. To enable Full Self-Driving (Beta), touch
Controls > Autopilot > Autopilot Features > Full Self-Driving (Beta) and then, after carefully reading and
understanding the popup window, touch Yes.
NOTE: When Full Self-Driving (Beta) is enabled, Autosteer and Navigate on Autopilot are automatically disabled. In
situations where you would use Autosteer and Navigate on Autopilot, such as on a controlled-access, multi-lane
highway, activate Full Self-Driving (Beta) the same way you would Autosteer.
If desired, change the setting for Full Self-Driving (Beta) Profile from the default setting of Average to Chill or
Assertive. Chill provides a more relaxed driving style and Assertive drives with more urgency.
To Use Full Self-Driving (Beta)
Once Full Self-Driving (Beta) is enabled, activate it the same way you would Autosteer (see Autosteer on page 125).

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1. Enter a destination. If you do not choose a destination, Model 3 chooses the most probable driving path or
suggests a destination based on your driving.
2. When the touchscreen displays the gray steering wheel icon, move the drive stalk fully down twice in quick
succession.
NOTE: To choose how you activate Full Self-Driving (Beta) go to Controls > Autopilot > Autosteer Activation and
choose Single Pull or Double Pull. If the setting for Autosteer Activation is set to Single Pull, Full Self-Driving
(Beta) engages when you pull the drive stalk fully down once.

You can engage Full Self-Driving (Beta) at any speed less than 85 mph (150 km/h), including when Model 3 is at a
standstill.
The touchscreen displays the maximum speed in blue. When you engage Full Self-Driving (Beta), the set cruising
speed defaults to the speed limit, plus any offset you’ve specified. If Autopilot is unable to determine the speed limit,
the cruising speed is your current speed, in addition to any specified offset.
To indicate that Full Self-Driving (Beta) is available but not engaged, the top corner of the touchscreen
displays a gray steering wheel icon next to the driving gear.

When Full Self-Driving (Beta) is engaged, the steering wheel icon is blue and a blue line represents
your driving path.

When Full Self-Driving (Beta) is engaged, the touchscreen displays a visualization of the environment surrounding
Model 3, including the roadway and detected objects such as vehicles, pedestrians, curbs, bicyclists, and more.
Objects shown in blue represent priorities that Full Self-Driving (Beta) is actively controlling for at a given time.
NOTE: The Full Self-Driving (Beta) visualization may not be a holistic representation of the objects, road markings,
road signals, and other variables that Full Self-Driving (Beta) takes into account as it attempts to drive to your
destination. While Full Self-Driving (Beta) is engaged, it uses data from the cameras on Model 3 that may not be
represented in the visualization (see Cameras on page 23).
NOTE: Full Self-Driving (Beta) uses Tesla’s vision-based system and therefore radar (if equipped) is disabled.

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The visualization will also inform you of the system’s intended action by displaying a message on the touchscreen,
such as when the vehicle is slowly creeping for visibility to take a turn at an intersection.
You can widen the visualization area to fullscreen. Enable the setting by touching Controls > Autopilot > Full SelfDriving (Beta) > Expanded Full Self-Driving Visualization. Then on the touchscreen, swipe the visualization window
handle to fill the entire screen.
NOTE: You can override Full-Self Driving (Beta) at any time if you are uncomfortable or uncertain about the system’s
intended course of action. You are driving Model 3 at all times.
Making Turns, Changing Lanes, and Negotiating Intersections
Full Self-Driving (Beta) changes lanes, makes left and right turns, follows on- and off-ramps, and takes forks in the
road as necessary to reach the destination. When Full Self-Driving (Beta) makes any such maneuver, the touchscreen
displays a message to inform you of the action being taken.
Like Autosteer and Traffic-Aware Cruise Control, Full Self-Driving (Beta) maintains your speed and following
distance from the vehicle ahead of Model 3, if there is one. Full Self-Driving (Beta) also slows down and stops at
traffic lights and stop signs as necessary, and reacts to pedestrians, cyclists, and other vehicles on the road.
WARNING: NEVER make assumptions and predict when and where Full Self-Driving (Beta) will stop or
continue through an intersection or road marking. From a driver's perspective, the behavior of Full Self-Driving
(Beta) may appear inconsistent. Always pay attention to the roadway and be prepared to take immediate
action. It is the driver's responsibility to determine whether to stop or continue through an intersection. Never
depend on Full Self-Driving (Beta) to determine when it is safe and/or appropriate to stop or continue through
an intersection.
For example, if you are driving on a residential street and another vehicle backs out of a driveway ahead of Model 3,
Full Self-Driving (Beta) slows down or stops as appropriate. If the other vehicle stops backing out while partially
blocking the driving lane, Full Self-Driving (Beta) slows down and maneuvers around the other vehicle if the width of
the lane allows it.
To tell Full Self-Driving (Beta) to change lanes while on a multi-lane roadway, engage the right or left turn signal. On
city or residential streets, engaging the right or left turn signal tells Full Self-Driving (Beta) to make a right or left
turn, respectively.
Full Self-Driving (Beta) notifies you at the top of the visualization as it takes actions. For example, if Full Self-Driving
(Beta) is moving Model 3 into a faster lane, it displays the message Changing lanes into faster lane / Use turn signal
to cancel.
Or, if Full Self-Driving (Beta) is changing lanes to follow the navigation route, Changing lanes to follow route / Use
turn signal to cancel.
Unlike Navigate on Autopilot, Full Self-Driving (Beta) does not require confirmation before a lane change. To cancel
a lane change or turn, cancel the turn signal or intervene with the steering wheel or other vehicle controls.

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To be notified by a Chime, Vibration, or Both of upcoming lane changes (in addition to the notification on the
touchscreen), touch Controls > Autopilot > Full Self-Driving (Beta) and then select a Lane Change Notification.
Full Self-Driving (Beta) also notifies you when it is slowing down for a stop sign or a traffic light. When the traffic in
front of you is slowing down, Full Self-Driving (Beta) shows blue arrows in the driving lane and slows down to
maintain an appropriate following distance from the vehicle ahead of you.
WARNING: In rare cases, Full Self-Driving (Beta) may not appropriately slow down, come to a stop, or resume
control for a stop sign or traffic light. You may assist the system by lightly applying the accelerator, or can
override Full Self-Driving (Beta) at any time.
Changing the Set Speed
While Full Self-Driving (Beta) is active, adjust your settings with the left and right scroll buttons on the steering
wheel.
• Roll the right scroll wheel up to increase, or down to decrease, the set speed.
NOTE: In some cases, your speed is limited by the speed limit or the type of roadway. If this is the case, Full SelfDriving (Beta) displays a message at the top of the visualization.
• Press the steering wheel's right scroll button to the left or right to adjust the Full Self-Driving (Beta) Profile
between Chill, Average, and Assertive.
Once you’ve arrived at your destination, Full Self-Driving (Beta) stops Model 3 and displays a message indicating
that navigation is complete.
Driver Attentiveness
Like other Autopilot features, Full Self-Driving (Beta) requires driver attentiveness. Your hands must be on the
steering wheel at all times while Full Self-Driving (Beta) is engaged, and you must monitor your surroundings, the
road, and other road users.
WARNING: The use of devices designed to circumvent driver attentiveness is a violation of the terms of use for
Full Self-Driving (Beta) and may result in the feature being permanently disabled on your vehicle and a ban on
future use of the feature.
Full Self-Driving (Beta) displays a message reminding the driver to apply slight force to the steering wheel. If Model
3 does not detect slight turning force on the steering wheel, the touchscreen flashes blue, and eventually chimes
repeatedly. Do not use handheld devices while using Full Self-Driving (Beta). If the cabin camera detects a handheld
device while Full Self-Driving (Beta) is engaged, the touchscreen displays a message reminding you to keep your
hands on the wheel.
Similarly, the cabin camera monitors your continued attentiveness when using Full Self-Driving (Beta). This system
cannot be disabled. The touchscreen displays a message reminding you to pay attention if you repeatedly look away
from the road, obstruct the camera, or prevent the system from identifying your gaze.
If you repeatedly ignore prompts to apply slight force to the steering wheel or to pay attention, Full Self-Driving
(Beta) disables for the rest of the drive and displays the following message requesting you to drive manually. If you
don't resume manual steering, Full Self-Driving (Beta) sounds a continuous chime, turns on the warning flashers, and
slows the vehicle to a complete stop.
If Full Self-Driving (Beta) repeatedly disengages due to driver attentiveness, your access to Full Self-Driving (Beta)
may be suspended.
There may be occasions where driver intervention is required and you must take over immediately to maintain safe
driving. Driver-initiated disengagements do not count as improper usage and are expected from the driver.
Canceling Full Self-Driving (Beta)
To disengage Full Self-Driving (Beta), do any of the following:
• Press the brake pedal.
• Move the drive stalk upward.

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◦ CAUTION: If you move the drive stalk upward and hold it up for more than one second, Model 3 shifts into
Neutral after canceling Autosteer.
• Take over and steer manually.
When you disengage Full Self-Driving (Beta) by steering manually, Traffic-Aware Cruise Control remains active (see
Canceling Autopilot on page 129).
In addition, Full Self-Driving (Beta) will disengage if any of the following occurs:
• You shift out of Drive.
• A door or trunk is opened.
• There is an Automatic Emergency Braking event (see Automatic Emergency Braking on page 166).
• The driver's seatbelt is released, and/or the driver gets out of their seat.
• You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the
touchscreen.
• Full Self-Driving (Beta) becomes unavailable. This can happen for a number of reasons (for example, if a camera
becomes obscured). If Full Self-Driving (Beta) disengages, an alert will appear on the touchscreen to notify you
and a chime will sound. If this happens, take control of steering immediately.
When driver intervention is required, it is best to safely disengage as soon as possible. It is recommended to practice
disengaging from Full Self-Driving (Beta) in safe environment without other road users so you may become familiar
with the process.

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Traffic Light and Stop Sign Control
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may
not be equipped with Traffic Light and Stop Sign Control, or the feature may not operate exactly as described.
NOTE: Traffic Light and Stop Sign Control is a BETA feature and works best on roads that are frequently driven by
Tesla vehicles. Traffic Light and Stop Sign Control attempts to stop at all traffic lights and may also stop at green
lights.
Traffic Light and Stop Sign Control is designed to recognize and respond to traffic lights and stop signs, slowing
Model 3 to a stop when using Traffic-Aware cruise control or Autosteer. This feature uses the vehicle's forward-facing
cameras, in addition to GPS data, and slows the car for all detected traffic lights, including green, blinking yellow,
and off lights in addition to stop signs and some road markings. As Model 3 approaches an intersection, the
touchscreen displays a notification indicating the intention to slow down. You must confirm that you want to
continue or Model 3 stops at the red line displayed on the touchscreen's driving visualization.
WARNING: NEVER make assumptions and predict when and where Traffic Light and Stop Sign Control will
stop or continue through an intersection or road marking. From a driver's perspective, the behavior of Traffic
Light and Stop Sign Control may appear inconsistent. Always pay attention to the roadway and be prepared to
take immediate action. It is the driver's responsibility to determine whether to stop or continue through an
intersection. Never depend on Traffic Light and Stop Sign Control to determine when it is safe and/or
appropriate to stop or continue through an intersection.
Before Using
Before using Traffic Light and Stop Sign Control, you must:
• Ensure that forward-facing cameras are unobstructed (see Cleaning a Camera on page 247) and calibrated (see
#unique_306 on page ). Traffic Light and Stop Sign Control depends on the ability of the cameras to detect
traffic lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model 3. Although Traffic Light and Stop Sign
Control primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using
the most recent map data. To check which version of maps is currently downloaded, touch Controls > Software.
You must connect to a Wi-Fi network to receive updated maps (see Map Updates on page 195).
• Enable the feature. With the vehicle in Park, touch Controls > Autopilot > Traffic Light and Stop Sign Control.
Once enabled, Traffic Light and Stop Sign Control operates whenever Traffic-Aware Cruise Control or Autosteer is
active.
How it Works
When Traffic Light and Stop Sign Control is enabled and you are using Autosteer or Traffic-Aware Cruise Control, the
touchscreen displays a popup message to inform you that an upcoming traffic light, stop sign, or road marking has
been detected. As it approaches the stop location, even at an intersection where the traffic light is green, Model 3
slows down and displays a red line to indicate where Model 3 will stop. To continue through the intersection—even if
the traffic light is green —you must press down on the drive stalk or briefly press the accelerator pedal to give the
vehicle permission to proceed. When you've confirmed that you want to proceed, the red stop line turns gray and
Model 3 continues through the intersection and resumes your set cruising speed.
NOTE: If Model 3 is approaching a green light and detects that a vehicle in front of you is continuing through the
intersection, Model 3 continues through the intersection without requiring your confirmation, provided you are not in
a turning lane and the vehicle can detect that your hands are on the steering wheel.
NOTE: If, after you press down on the drive stalk or briefly press the accelerator pedal to confirm that you want to
continue through the intersection, the traffic signal changes before you enter the intersection (for example, the light
changes from green to yellow or from yellow to red), Model 3 may determine that it is not appropriate to proceed.
Therefore, Model 3 stops and you must press the accelerator to proceed. At all times, it is your responsibility to
ensure the vehicle stops or accelerates appropriately and safely.
WARNING: Traffic Light and Stop Sign Control DOES NOT turn Model 3 through an intersection. When in a
turning lane, Model 3 stops at the red stop line. To proceed, press down on the drive stalk or briefly press the
accelerator pedal—Model 3 continues straight through the intersection (even when in a turning lane), so you