To add a new driver profile, touch the driver profile icon at the top of the touchscreen. Then touch
Driver Profile Settings > Add New Driver, type the driver's name and touch Create Profile. Follow the
onscreen instructions. Check the Use Easy Entry checkbox if you want to save (or use existing) Easy
Entry settings in which the driver's seat and the steering wheel are automatically adjusted to make it
easy to enter and exit Model S.
If you change the position of the driver’s seat, steering wheel, or exterior side mirrors after you have saved or chosen
a driver profile, the touchscreen prompts you to Save the new position or Restore the previously saved position
(other settings are automatically saved). To change a setting without saving or restoring, just ignore the prompt.

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To delete a driver profile, touch the driver profile icon at the top of the touchscreen, touch Driver Profile Settings
and select the driver profile you would like the remove. Once selected, there is an option to Delete the driver profile.
NOTE: Valet mode is a built-in driver profile that limits speed and restricts access to some Model S features (see
Valet Mode on page 132).
NOTE: Depending on date of manufacture and options selected at time of purchase, some Model S vehicles are not
equipped with the driver profile feature. Also, in cases where the vehicle is equipped with driver profiles, some
features may not be automatically saved and adjusted based on the driver profile (for example, mirror position).
NOTE: To stop automatic adjustments that are in process based on a driver's profile, touch Stop on the Driver Profile
dropdown menu. Automatic adjustments also stop if you manually adjust a seat, mirror, or the steering wheel.
Selecting Between Driver Profiles
To adjust Model S based on a driver’s profile, touch the driver profile icon at the top of the touchscreen.
Then choose the driver, and Model S is adjusted based on the settings that have been saved to the
chosen driver profile.

Saved Settings
A subset of the settings that you choose to customize your Model S are automatically saved to your driver's profile.
Once saved, a green check mark appears next to the driver profile icon on the touchscreen. Examples of
automatically saved driver profile settings are:
• Navigation, temperature, lights and display settings.
• Autopilot and driving preferences.
NOTE: The settings that are associated with driver profiles vary depending on the vehicle's date of manufacture and
version of software installed.
Linking a Driver Profile to a Key Fob
You can link a driver profile to a specific key fob to allow Model S to automatically select the correct driver profile
when the linked key fob is detected as you approach the vehicle and open the driver's door. To link a driver profile to
a key fob, enter Model S with the key fob and touch the driver profile icon at the top of the touchscreen. Select the
driver profile you would like to link to the key fob, then touch Link to Key Fob.
NOTE: Model S detects only one key fob at a time. The driver profile is linked to the key fob that is detected by the
vehicle at that time. Therefore, if you want to link driver profiles to multiple key fobs, ensure that only the key fob
that you would like to link the driver profile to is within detection range while performing the linking procedure.
Move all other key fobs outside of the detection range (at least three feet (one meter) away from Model S).
NOTE: Model S can support up to three linked key fobs. However, a driver profile can only be linked to one key fob.
To remove the link between a driver profile and key fob, touch the driver profile icon at the top of the touchscreen.
Select the driver profile, then touch the X next to Linked to Key Fob.
Easy Entry
You can define an Easy Entry setting that moves the steering wheel and driver's seat to make it easy to enter and
exit Model S. Any driver can use the Easy Entry setting by associating it with their driver profile. When the Easy
Entry setting is associated with a driver profile, the steering wheel and driver's seat automatically adjust when in
Park and the driver's seat belt is unbuckled, allowing an easy exit from Model S. When returning to the vehicle and
stepping on the brake pedal, settings automatically adjust back to the settings used by the most recent driver profile
(or based on the key if it's linked to a driver profile).
To use Easy Entry with a driver profile, ensure the Use Easy Entry box is checked.
WARNING: Never use Easy Entry to move the driver's seat to the full rearward position when a child safety
seat is installed on a rear seat located behind the driver's seat. With reduced clearance, the movement of the
seat may impact a child's legs, cause injury, or dislodge the seat.

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Valet Mode
When Model S is in Valet mode, the following restrictions apply:
• Speed is limited to 70 mph (113 km/h).
• Maximum acceleration and power are limited.
• Front trunk and glovebox are locked.
• Home and Work locations are not available in the navigation system.
• Voice commands are disabled.
• Cruise control is disabled.
• Autopilot convenience features are disabled.
• The Allow Mobile Access setting cannot be changed.
• HomeLink (if available in your market region) is not accessible.
• Driver Profiles are not accessible.
• Some apps, such as Toybox and Theater, are not accessible.
• Wi-Fi and Bluetooth are disabled. When Model S is in Valet mode, you cannot pair new Bluetooth devices or view
or delete existing paired devices. However, if a Bluetooth-paired device or a known Wi-Fi network is within range,
Model S connects to it.
Starting Valet Mode

With Model S in Park, touch the driver profile icon at the top of the touchscreen, then touch Valet Mode.
The first time you enter Valet mode, the touchscreen prompts you to create a 4-digit PIN you will use to cancel Valet
mode.
When Valet mode is active, the instrument panel displays the word Valet while the driver profile changes to Valet
Mode on the touchscreen.
You can also use the mobile app to start and cancel Valet mode (if Model S is in Park). When using the mobile app,
you do not need to enter a PIN because you are already required to log into the app using your Tesla Account
credentials.
NOTE: If the PIN to Drive setting is enabled (see PIN to Drive on page 185), you must enter the driving PIN before
you can define or enter a Valet PIN. Once in Valet mode, Model S can be driven without the valet needing to enter
the driving PIN.
NOTE: The PIN to Drive setting is not available when Valet mode is active.
If you forget your valet PIN, reset it from inside Model S by entering your Tesla Account credentials (which also
cancels Valet mode). You can also reset your PIN using the mobile app.
Canceling Valet Mode

With Model S in Park, touch the Valet Mode driver profile icon at the top of the touchscreen, and enter your 4-digit
PIN.
When you cancel Valet mode, all settings associated with the most recently used driver profile and climate control
settings are restored, and all features are available.
NOTE: You do not need to enter a PIN to cancel Valet mode from the mobile app.

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Trip Information
Displaying Trip Information
Trip information displays on the touchscreen when you touch Controls > Trips. For the current trip, you can display
distance, duration and average energy usage. You can also show distance and total and average energy used since
your last charge and for additional trips.
To name or rename a trip, touch the trip's name, enter a new name for the trip, then press Save. To reset a particular
trip meter, touch its associated Reset button.
You can display information for up to three trips on the instrument panel. Use the checkboxes to specify the trip(s)
you want to display. Then use the scroll wheel on the right side of the steering wheel to display the chosen trip(s)
(see Using Right Steering Wheel Buttons on page 95).
Odometer
To display the odometer, do either of the following:
• Touch Controls > Software.
• Touch Controls > Trips.
• Open the mobile app and scroll down to the bottom of the main screen.
The odometer also displays on the instrument panel.

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Rear Facing Camera(s)
Camera Location
Model S is equipped with a rear view camera located above the rear license plate.

Whenever you shift into Reverse, the touchscreen displays the view from the camera. Lines show your driving path
based on the position of the steering wheel. These lines adjust as you move the steering wheel.
Model S also displays images from the side cameras (if equipped). Simply swipe up or down to hide or show the side
camera views.
NOTE: You may need to expand the camera window to see the images from the side cameras (if equipped).
NOTE: Visual feedback from Park Assist also appears on the instrument panel (see Park Assist on page 121).
NOTE: Depending on date of manufacture and options selected at time of purchase, some Model S vehicles are not
equipped with parking sensors.
To display the view from the rear view cameras at any time, open the app launcher and touch the
Camera app.

If a black screen appears on the touchscreen instead of the rear view camera feed when in Reverse, use the rear view
mirrors and ensure your surroundings are safe before continuing to Reverse. If inoperability of the rear view camera
persists, use the mobile app to schedule a service appointment.
WARNING: Never depend on the cameracameras to inform you if the area behind you is free of objects and/or
people. The cameracameras may not detect objects or barriers that can potentially cause damage or injury. In
addition, several external factors can reduce the performance of the cameracameras, including a dirty or
obstructed lens. Therefore, depending on the cameracameras to determine if Model S is approaching an
obstruction can result in damage to the vehicle and/or objects and can potentially cause serious injury. Always
inspect the area with your own eyes. When reversing, perform shoulder checks and use all mirrors. Use the
cameracameras for guidance purposes only. It is not intended to replace your own direct visual checks and is
not a substitute for careful driving.
To ensure a clear picture, the camera lens must be clean and free of obstructions. See Cleaning on page 246.

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Pedestrian Warning System
The Pedestrian Warning System (if equipped) causes Model S to emit sound when driving below approximately 19
mph (32 km/h) or while driving in reverse. Electric vehicles operate quietly and this sound helps to alert pedestrians
of your oncoming vehicle. The sound, which activates whenever Model S is shifted out of Park, gets louder as speed
increases.
NOTE: The Pedestrian Warning System may not be available in vehicles manufactured prior to approximately
September 1, 2020.
WARNING: If sound cannot be heard, pedestrians may not be aware of your oncoming vehicle, which may
increase the likelihood of a collision resulting in serious injury or death. If the Pedestrian Warning System is not
operating, immediately contact Tesla.

Autopilot
About Autopilot
How It Works
Your Model S includes the following components that actively monitor the surrounding area:

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1. Ultrasonic sensors are located in the front and rear bumpers.
2. A forward looking camera is mounted on the windshield above the rear view mirror.
3. Radar is mounted in the front grill. Radar is mounted behind the front bumper on the left side of the vehicle.
1. A camera is mounted above the rear license plate.
2. Ultrasonic sensors are located in the front and rear bumpers.
3. A camera is mounted in each door pillar.
4. Three cameras are mounted to the windshield above the rear view mirror.
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5. A camera is mounted to each front fender.
6. Radar is mounted behind the front bumper.
Model S is also equipped with high precision electronically-assisted braking and steering systems.
NOTE: Ensure all cameras and sensors (if equipped) are clean before each drive. See Cleaning Cameras and Sensors
on page 139 for more information. Dirty cameras and sensors, as well as environmental conditions such as rain and
faded lane markings, can affect Autopilot performance.

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Active Safety Features
These Active Safety features, available on all vehicles that are equipped with the components shown above, are
designed to increase your safety:
• Lane Assist (see Lane Assist on page 177)
• Collision Avoidance Assist (see Collision Avoidance Assist on page 180)
• Speed Assist (see Speed Assist on page 183)
You can enable/disable some of these features and in some cases, control how they work. To access settings for
these features, touch Controls > Autopilot.
Autopilot Features
NOTE: Depending on market region, vehicle configuration, options purchased, software version and build date, your
vehicle may not be equipped with all features listed below, or a feature may not operate as described.
These Autopilot convenience features are designed to reduce driver workload:
• Traffic-Aware Cruise Control (see Traffic-Aware Cruise Control on page 140)
• Autosteer (see Autosteer on page 149)
• Auto Lane Change (see Auto Lane Change on page 152)
• Autopark (see Autopark on page 168)
• Summon (see Summon on page 171)
• Smart Summon (Smart Summon on page 174)
• Stop Light and Stop Sign Warning (see Stop Light and Stop Sign Warning on page 153)
• Navigate on Autopilot (see Navigate on Autopilot on page 154)
• Traffic Light and Stop Sign Control (see Traffic Light and Stop Sign Control on page 161)
• Full Self-Driving (Beta) (see Full Self-Driving (Beta) on page 158)
You can enable/disable some of these features and in some cases, control how they work. To access settings
associated with these features, touch Controls > Autopilot.
Drive to Calibrate Cameras
Model S must maneuver with precision when Autopilot features are being used. Therefore, before some features can
be used for the first time or after some types of service repairs, cameras must complete a self-calibration process.
For your convenience, the instrument panel displays a progress indicator.
When calibration is complete, Autopilot features are available for use. Calibration typically completes after driving
20-25 miles (32-40 km), but the distance varies depending on road and environmental conditions. For example,
calibration completes quicker when driving on a straight road with multiple lanes (such as a controlled-access
highway), with highly-visible lane markings (in the driving lane as well as the adjacent lanes). Contact Tesla only if
your Model S has not completed the calibration process after driving 100 miles (160 km) in the described conditions.
If a camera has shifted from its calibrated position (for example, the camera or windshield was replaced), you must
clear the calibration. To do so, touch Controls > Service > Camera Calibration > Clear Calibration. When the
calibration is cleared, Model S repeats the calibration process. While this helps re-calibrate the cameras in many
cases, Clear Calibration may not resolve all camera and sensor concerns.
NOTE: The self-calibration drive process is only applicable to Model S vehicles built after approximately October 12,
2016.
NOTE: To calibrate, cameras require highly-visible lane markings in both the driving lane and adjacent lanes (at least
two lanes over on each side of the vehicle). For best results, drive in the middle lane of a multi-lane highway (ideally
with at least five lanes) that has clear lane markings and minimal traffic.
NOTE: If you attempt to use a feature that is not available until the calibration process is complete, the feature is
disabled and the instrument panel displays a message.
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NOTE: Model S must repeat the calibration process if the cameras are serviced by Tesla, and in some cases, after a
software update.
Limitations
Many factors can impact the performance of Autopilot components, causing them to be unable to function as
intended. These include (but are not limited to):
• Poor visibility (due to heavy rain, snow, fog, etc.).
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• Damage or obstructions caused by mud, ice, snow, etc.
• Interference or obstruction by object(s) mounted onto the vehicle (such as a bike rack).
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating,
etc.) onto the vehicle.
• Traffic signs that do not conform to standard recognizable formats, such as digital or temporary speed signs.
• Narrow or winding roads.
• A damaged or misaligned body panel.
• Use of gray or aftermarket glass.
• Interference from other equipment that generates ultrasonic waves.
• Extremely hot or cold temperatures.
CAUTION: If a windshield replacement is needed, take your vehicle to Tesla Service. This ensures appropriate
handling and mounting of the camera(s). Failure to do so can cause one or more Autopilot features to
malfunction.
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper
operation of Autopilot components. Never depend on these components to keep you safe. It is the driver's
responsibility to stay alert, drive safely, and be in control of the vehicle at all times.
WARNING: Advanced safety features may not be available during the calibration period.
WARNING: Re-calibrating the cameras or sensors (if equipped) on the touchscreen is not a substitute for
checking the physical positioning and condition of these components. Walk around your vehicle and inspect
the cameras and sensors for physical damage. Incorrectly calibrated or positioned cameras and sensors may
limit or disable the use of safety features. Contact Tesla if you suspect lingering issues.
Cleaning Cameras and Sensors
To ensure the various Autopilot components can provide information that is as accurate as possible, keep cameras
and sensors (if equipped) clean and free of obstructions, condensation, or damage (see Cleaning on page 246).
Condensation can form inside the camera enclosures, especially if you park your vehicle outside in cold or wet
conditions. The instrument cluster may display an alert stating that a camera is blocked and that some or all
Autopilot features may be temporarily restricted until the camera vision is clear. To proactively dry the condensation,
precondition the cabin by setting it to a warm temperature, turning the windshield defroster on, and directing the
front air vents toward the door pillars (see Mobile App on page 80).
CAUTION: Do not attempt to remove dirt or debris by wiping an exposed lens with your hands or a cloth. This
debris can damage the surface of the lens when rubbed against it during wiping.
CAUTION: Do not use chemical-based or abrasive cleaners. Doing so can damage the surface of the lens.
CAUTION: Do not clean an ultrasonic sensor (if equipped) or camera lens with a sharp or abrasive object that
can scratch or damage its surface.

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Traffic-Aware Cruise Control
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may
not be equipped with Traffic-Aware Cruise Control, or the feature may not operate exactly as described. If your
vehicle is not equipped, refer to the owner's manual on your vehicle's touchscreen for instructions on how to use
Cruise Control.
NOTE: Traffic-Aware Cruise Control is a BETA feature.
Traffic-Aware Cruise Control determines when there is a vehicle in front of you in the same lane. If the area in front of
Model S is clear, Traffic-Aware Cruise Control maintains a set driving speed. When a vehicle is detected, TrafficAware Cruise Control is designed to slow down Model S as needed to maintain a selected time-based distance from
the vehicle in front, up to the set speed. Traffic-Aware Cruise Control does not eliminate the need to watch the road
in front of you and to manually apply the brakes when needed.
Traffic-Aware Cruise Control is primarily intended for driving on dry, straight roads, such as highways.
CAUTION: Ensure all cameras and sensors (if equipped) are clean before each drive. Dirty cameras and
sensors, as well as environmental conditions such as rain and faded lane markings, can affect Autopilot
performance.
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 S. 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.
WARNING: Although Traffic-Aware Cruise Control is capable of detecting pedestrians and cyclists, never
depend on Traffic-Aware Cruise Control to adequately slow Model S down for them. 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.
WARNING: Do not use Traffic-Aware Cruise Control on winding roads with sharp curves, on icy or slippery road
surfaces, or when weather conditions (such as heavy rain, snow, fog, etc.) make it inappropriate to drive at a
consistent speed. Traffic-Aware Cruise Control does not adapt driving speed based on road and driving
conditions.
To Use Traffic-Aware Cruise Control
To initiate Traffic-Aware Cruise Control when no vehicle is detected ahead of you, you must be driving at least
18 mph (30 km/h), unless certain vehicle and environmental conditions are met, in which case, you may be able to
initiate it at lower speeds. If a vehicle is detected ahead of you, you can initiate Traffic-Aware Cruise Control at any
speed, even when stationary, provided Model S is at least 5 feet (1.5 m) behind the detected vehicle and certain
vehicle and environmental conditions are met.
NOTE: The maximum cruising speed is 90 mph (150 km/h). It is the driver's responsibility to cruise at a safe speed
based on road conditions and speed limits.
When Traffic-Aware Cruise Control is available but not engaged, the instrument panel displays a gray
cruising speed icon. The number shown in gray represents the cruising speed that will be set when you
engage Traffic-Aware Cruise Control.

When Traffic-Aware Cruise Control is actively cruising at a set cruising speed, the icon turns blue and
displays the set cruising speed.

1. When available, you can engage Traffic-Aware Cruise Control to match the speed limit or your current speed.
Choose:
◦ To engage Traffic-Aware Cruise Control at your current driving speed, move the Autopilot stalk up or down
once and release the accelerator pedal to allow Traffic-Aware Cruise Control to maintain the cruising speed.

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◦ To engage Traffic-Aware Cruise Control at the currently detected speed limit, pull the Autopilot stalk toward
you once and release the accelerator pedal to allow Traffic-Aware Cruise Control to maintain the cruising
speed.

NOTE: If Autosteer Activation is set to Single Pull, moving the Autopilot stalk toward you once activates
Autosteer (see Autosteer on page 149). Touch Controls > Autopilot > Autosteer Activation and choose
Double Pull to use Traffic-Aware Cruise Control independently of Autosteer when you move the Autosteer
stalk toward you.
NOTE: If you choose to engage Traffic-Aware Cruise Control at the currently detected speed limit, you can
specify an offset. Touch Controls > Autopilot > Set Speed Offset. You can choose a Fixed offset, in which the
cruising speed adjusts by a specific number of mph (km/h) on all roads, or a Percentage offset, in which the
cruising speed is adjusted as a percentage of the road's detected speed limit. If you pull the Autopilot stalk
toward you when you are already driving faster than the speed limit, the set speed adjusts to your current
driving speed instead of the speed limit. If you move the Autopilot stalk up or down when cruising at the
speed limit, your set speed changes to your current driving speed.
WARNING: When you adjust the cruising speed based on the speed limit, the set cruising speed may not
change when the speed limit changes.
WARNING: Do not rely on Traffic-Aware Cruise Control or Speed Assist to determine an accurate or
appropriate cruising speed. It is the driver's responsibility to cruise at a safe speed based on road conditions
and applicable speed limits.
2. To change your speed while using Traffic-Aware Cruise Control, you can use the right scroll wheel or the
Autopilot stalk. For details, see Changing the Cruising Speed on page 142.
3. To cancel Traffic-Aware Cruise Control, push the stalk away from you once or press the brake pedal. See
Canceling and Resuming on page 145 for more information.

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Set Traffic-Aware Cruise Control Chime
If you want a chime to sound when you engage or cancel Traffic-Aware Cruise Control, touch Controls > Autopilot >
Traffic-Aware Cruise Control Chime.
NOTE: Model S must be in Park.
Changing the Cruising Speed
To change the set cruising speed while using Traffic-Aware Cruise Control, move the Autopilot stalk up (increase) or
down (decrease) until the instrument panel icon displays your desired cruising speed.

To increase/decrease speed by 1 mph (1 km/h), move the stalk up or down to the first position and release. To
increase/decrease speed to the closest 5 mph (5 km/h) increment, move the stalk up/down to the second position
and release. For example, if you are traveling at 57 mph and you move the stalk up to the second position and
release, the speed increases to 60 mph. You can also increase/decrease speed by holding the stalk in the full up/
down position and releasing when the icon on the instrument panel displays your desired cruising speed.
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You can also pull and hold the Autopilot stalk towards you for approximately half a second to cruise at the detected
speed limit.
NOTE: It may take a few seconds for Model S to reach the new cruising speed, assuming Model S is not cruising
behind a vehicle that is driving slower than your set speed.
Cruising at the Set Speed
Traffic-Aware Cruise Control maintains your set cruising speed whenever a vehicle is not detected in front of
Model S. When cruising behind a detected vehicle, Traffic-Aware Cruise Control accelerates and decelerates Model S
as needed to maintain a chosen following distance (see Adjust the Following Distance on page 144), up to the set
speed.
Traffic-Aware Cruise Control also adjusts the cruising speed when entering and exiting curves.
You can manually accelerate at any time when cruising at a set speed, but when you release the accelerator, TrafficAware Cruise Control resumes cruising at the set speed.
NOTE: When Traffic-Aware Cruise Control is actively slowing down Model S to maintain the selected distance from
the vehicle ahead, brake lights turn on to alert other road users that you are slowing down. You may notice slight
movement of the brake pedal. However, when Traffic-Aware Cruise Control is accelerating Model S, the accelerator
pedal does not move.
WARNING: Traffic-Aware Cruise Control may occasionally cause Model S to brake when not required or when
you are not expecting it. This can be caused by closely following a vehicle ahead, detecting vehicles or objects
in adjacent lanes (especially on curves), etc.
WARNING: Due to limitations inherent in the onboard GPS (Global Positioning System), you may experience
situations in which Model S slows down, especially near exits or off-ramps where a curve is detected and/or
you are navigating to a destination and not following the route.
WARNING: Traffic-Aware Cruise Control may not detect all objects and, especially when cruising over 50 mph
(80 km/h), may not brake/decelerate when a vehicle or object is only partially in the driving lane or when a
vehicle you are following moves out of your driving path and a stationary or slow-moving vehicle or object is in
front of you. Always pay attention to the road ahead and stay prepared to take immediate corrective action.
Depending on Traffic-Aware Cruise Control to avoid a collision can result in serious injury or death. In addition,
Traffic-Aware Cruise Control may react to vehicles or objects that either do not exist, or are not in your lane of
travel, causing Model S to slow down unnecessarily or inappropriately.
WARNING: Traffic-Aware Cruise Control may be unable to provide adequate speed control because of limited
braking capability and hills. It can also misjudge the distance from a vehicle ahead. Driving downhill can
increase driving speed, causing Model S to exceed your set speed (and potentially the road's speed limit).
Never depend on Traffic-Aware Cruise Control to slow down Model S enough to prevent a collision. Always
keep your eyes on the road when driving and be prepared to take corrective action as needed. Depending on
Traffic-Aware Cruise Control to reduce your driving speed enough to prevent a collision can result in serious
injury or death.
HOLD State
When following a vehicle, Traffic-Aware Cruise Control remains active at low speeds, even when Model S comes to a
full stop. When the vehicle is moving again, Traffic-Aware Cruise Control resumes operating at the set speed.
However, under the following circumstances, Traffic-Aware Cruise Control goes into a HOLD state, in which case, you
need to briefly press the accelerator pedal or pull the Autopilot stalk toward you (see Canceling and Resuming on
page 145) to resume cruising. When the HOLD status is active, the instrument panel displays the HOLD icon and a
message that indicates that you need to resume cruise control. The following circumstances can cause Traffic-Aware
Cruise Control to go into the HOLD state:
• Model S has been at a standstill for 5 minutes.
• Model S detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model S suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model S.

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Cruising Near or On Exits
When cruising near an exit on a controlled-access highway and engaging the turn signal toward the off-ramp,
Traffic-Aware Cruise Control assumes you are exiting and begins to slow down Model S. If you do not drive onto the
off-ramp, Traffic-Aware Cruise Control 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 right-most lane within 164 feet (50 meters) of
an exit. Likewise in regions with left hand traffic; when engaging the left turn signal when driving in the left-most
lane within 164 feet (50 meters) of an exit.
When cruising onto an on-ramp to a controlled-access highway, Traffic-Aware Cruise Control automatically adjusts
the set cruising speed to the speed limit of the highway, plus any offset you have specified.
NOTE: The on-board Global Positioning System (GPS) determines if you are driving in a region with right or left hand
traffic. In situations where GPS data is unavailable (for example, if there is inadequate signal), engaging the turn
signal near an exit does not cause Traffic-Aware Cruise Control to slow down Model S.
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 or move the Autopilot stalk. The new set speed is maintained for the duration of the
interchange or off-ramp (unless you override it or cancel Traffic-Aware Cruise Control). After the interchange or offramp, 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.
Adjust the Following Distance
o adjust the following distance you want to maintain between Model S and a vehicle traveling ahead of you, rotate
the Autopilot stalk. Each setting corresponds to a time-based distance that represents how long it takes for Model S,
from its current location, to reach the location of the rear bumper of the vehicle ahead of you. Your setting is
retained until you manually change it.
The closest following distance is 2.The closest following distance is 1.

As you rotate the Autopilot stalk, the instrument panel displays the current setting. Release the stalk when the
desired setting is displayed.

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WARNING: It is the driver's responsibility to determine and maintain a safe following distance at all times. Do
not rely on Traffic-Aware Cruise Control to maintain an accurate or appropriate following distance.
WARNING: Never depend on Traffic-Aware Cruise Control to adequately slow down Model S to avoid a
collision. Always watch the road in front of you and stay prepared to take immediate corrective action.
Overtake Acceleration
When following a vehicle with Traffic-Aware Cruise Control active, engaging the turn signal (to indicate a move into
the passing lane) accelerates Model S towards the vehicle ahead. 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. The turn signal
causes acceleration only when all of the following conditions are met:
• 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 S is traveling below the set speed, but over 45 mph (72 km/h).
Overtake Acceleration is intended as an aid when passing a vehicle ahead of you. When the turn signal is engaged,
Traffic-Aware Cruise Control continues to maintain distance from the vehicle ahead, but allows you to drive slightly
closer than your selected distance.
Acceleration cancels when one of the conditions happen:
• You reach your set cruising speed.
• Changing lanes takes too long.
• Model S gets too close to the vehicle ahead.
OR
• You disengage the turn signal.
NOTE: Overtake Acceleration occurs when you fully engage the turn signal, or you . When you release the turn
signal, Model S stops accelerating (in the same way as when you release the accelerator pedal) and resumes the set
speed.
WARNING: Overtake Acceleration can cancel for many unforeseen reasons in addition to those listed above
(for example, lack of GPS data). Stay alert and never depend on Overtake Acceleration to increase your driving
speed.
WARNING: Overtake Acceleration increases your driving speed whenever the appropriate turn signal is
engaged, and accelerates Model S closer to the vehicle ahead. Although Traffic-Aware Cruise Control continues
to maintain distance from the vehicle ahead, it is important to be aware that your selected following distance is
reduced when Overtake Acceleration is active, particularly in cases where it may not be your intention to
overtake the vehicle you are following.
Canceling and Resuming
To manually cancel Traffic-Aware Cruise Control, press the brake pedal or briefly push the Autopilot stalk away from
you. The cruising speed icon on the instrument panel turns gray to indicate that Traffic-Aware Cruise Control is no
longer active.

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To resume cruising at the previously set speed, briefly pull the Autopilot stalk toward you.

To resume cruising at the current driving speed, move the Autopilot stalk up or down, then release.

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NOTE: Depending on date of manufacture, some Model S vehicles have a button on the end of the Autopilot stalk.
Pressing this button when Traffic-Aware Cruise Control is active cancels Traffic-Aware Cruise Control.
NOTE: When Traffic-Aware Cruise Control cancels, Model S does not coast. Instead, regenerative braking slows down
Model S 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 108).
WARNING: Traffic-Aware Cruise Control cancels, or may not be available, in the following situations:
• You press the brake pedal.
• Your driving speed exceeds the maximum cruising speed of 90 mph (150 km/h).
• You shift Model S.
• A door is opened.
• A camera or sensor (if equipped) is obstructed. This could be caused by dirt, mud, ice, snow, fog, etc.
• The traction control setting is manually disabled or is repeatedly engaging to prevent wheels from slipping.
• The wheels are spinning while at a standstill.
• The Traffic-Aware Cruise Control system is failing or requires service.
When Traffic-Aware Cruise Control is unavailable or cancels, Model S no longer drives consistently at a set speed and
no longer maintains a specified distance from the vehicle ahead.
WARNING: Traffic-Aware Cruise Control can cancel unexpectedly at any time for unforeseen reasons. Always
watch the road in front of you and stay prepared to take appropriate action. It is the driver's responsibility to
be in control of Model S at all times.

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Summary of Cruise Indicators
Traffic-Aware Cruise Control is available but is not actively controlling your speed until you activate it.
The number shown in gray is the cruising speed that will be set when you engage Traffic-Aware Cruise
Control.

Traffic-Aware Cruise Control is actively cruising and is either maintaining the set speed (no vehicle in
front) or is maintaining a chosen following distance from a vehicle ahead (up to the set speed).

Model S has fully stopped but is in a HOLD state. If safe, press the accelerator pedal to resume cruising
at the set speed.

Limitations
Traffic-Aware Cruise Control is particularly unlikely to operate as intended in the following types of situations:
• The road has sharp curves.
• Visibility is poor (due to heavy rain, snow, fog, etc.).
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• A camera or sensor (if equipped) is obstructed (fogged over, dirty, covered by a sticker, etc.).
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper
operation of Traffic-Aware Cruise Control.

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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.
NOTE: Autosteer is a BETA feature.
Autosteer builds upon Traffic-Aware Cruise Control (see Traffic-Aware Cruise Control on page 140), intelligently
keeping Model S in its driving lane when cruising at a set speed. Autosteer also allows you to use the turn signals to
move Model S into an adjacent lane (see Auto Lane Change on page 152). Autosteer detects lane markings and the
presence of vehicles and objects to steer Model S.
CAUTION: Ensure all cameras and sensors (if equipped) are clean. Dirty cameras and sensors, as well as
environmental conditions such as rain and faded lane markings, affect performance.
WARNING: Autosteer is a hands-on feature. You must keep your hands on the steering wheel at all times.
WARNING: Autosteer is intended for use on controlled-access highways with a fully attentive driver. When
using Autosteer, hold the steering wheel and be mindful of road conditions and surrounding traffic. Do not use
Autosteer in construction zones, or in areas where bicyclists or pedestrians may be present. Never depend on
Autosteer to determine an appropriate driving path. Always be prepared to take immediate action. Failure to
follow these instructions could cause damage, serious injury or death.
Operating Autosteer
Before you can operate Autosteer, you must enable it by touching Controls > Autopilot > Autopilot Features >
Autosteer (Beta).
To indicate that Autosteer is available (but not actively steering Model S), the instrument panel displays
a gray Autosteer icon.

To initiate Autosteer, pull the Autopilot stalk toward you twice in quick succession.

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NOTE: If the setting for Autosteer Activation is set to Single Pull (touch Controls > Autopilot > Autosteer