equipped with its own brake system adequate for the weight of the trailer. Ensure compliance with local regulations.
A brake controller must be purchased separately, and the required 4-pin pigtail connector can be ordered from Tesla
Service.
Follow these steps to connect a brake controller:
1. Connect the wiring on the brake controller to the appropriate locations on the 4-pin pigtail connector.

1 - Brake control output to trailer
2 - Ground
3 - Brake On Signal
4 - Low Voltage Power (20A)
2. Remove the cover located under the dashboard in the driver's side foot well.

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3. Peel back the carpet to expose Model X's 4-pin connector on the wiring harness.

4. Connect the pigtail connector to the vehicle wiring connector.
WARNING: Towing increases your stopping distance, even when the trailer is equipped with its own braking
system. When towing, increase your following distance and avoid situations that could potentially cause heavy
braking. Failure to do so can result in a collision.

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WARNING: Observe all regulations and legal requirements in your regional and national jurisdictions that apply
specifically to trailer towing and brake requirements. Many regions require a breakaway switch, located on the
tongue of the trailer, to activate the trailer brakes in the event that the trailer separates from the vehicle. Failure
to comply with regulations can compromise your safety.
WARNING: Follow the instructions provided by the trailer brake manufacturer to ensure that trailer brakes are
properly installed, adjusted, and maintained. Tesla is not responsible for damages caused by incorrect
installation of trailer braking systems.
WARNING: Never attempt to connect trailer brakes directly to the vehicle braking system. Doing so can cause
damage to the vehicle and the trailer, and can cause the braking system to malfunction, resulting in serious
injury or death.
Towing Guidelines
Model X is designed primarily as a passenger-carrying vehicle. Towing a trailer puts additional load on the motor(s),
drive train, brakes, tires, and suspension and significantly decreases range. If you decide to tow a trailer, proceed
with caution and follow these general guidelines:
• Reduce your driving speed and avoid sudden maneuvers. Keep in mind that when towing a trailer, steering,
stability, turning radius, stopping distance and braking performance are different when compared to driving
without a trailer.
• Increase your following distance by maintaining at least twice the distance from a vehicle ahead. This helps to
avoid situations that require heavy braking. Sudden braking may result in skidding or jack-knifing, and loss of
control.
• Avoid sharp turns. Sharp turns can cause the trailer to contact the vehicle and cause damage. Keep in mind that
the trailer wheels are closer to the inside of the turn than the vehicle’s wheels. Therefore, make wider turns to
prevent the trailer from hitting curbs, road signs, trees or other objects.
• Periodically check the trailer lights and turn signals to confirm that bulbs are still working. When towing a trailer,
the turn signal arrows on the vehicle instrument cluster flash as normal, even if the bulbs on the trailer are burned
out.
• Periodically confirm the cargo is secure.
• Periodically confirm the trailer brakes are working.
• Avoid parking on a grade (see Parking with a Trailer on page 145).
• Regularly confirm that all towing components are securely tightened.
Parking with a Trailer
Whenever possible, avoid parking on a grade. However, if parking on a grade is absolutely necessary, place wheel
chocks under the trailer wheels:
• One person presses and holds the brake pedal.
• A second person places the wheel chocks under the wheels on the downgrade side of the vehicle's tires.
• When the chocks are in place, release the brake pedal and ensure the chocks hold the weight of the vehicle and
trailer.
NOTE: When testing chocks, ensure that Vehicle Hold (see Vehicle Hold on page 127) is not engaged. If Vehicle
Hold is braking Model X, the Vehicle Hold indicator light displays on the instrument panel. To disengage Vehicle
Hold, press and release the brake pedal.
• Place the vehicle in Park.
WARNING: If parking on a grade is necessary, always ensure that all trailer wheels have been securely chocked.
Failure to do so can result in serious damage, injury, or death.
Trailer Sway Mitigation
When trailer sway is detected, the Model X electronic stability control system attempts to apply the appropriate
amount of braking to minimize trailer sway. The instrument panel briefly displays the traction control system
indicator. Pressing the brake pedal when the system is actively braking to mitigate trailer sway does not cancel this
automatic braking.
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Connecting the Tow Hitch
The Model X towing package includes a weight-carrying hitch with a 2” x 2” removable hitch receiver. When not in
use, the hitch receiver should be removed and stored in a dry location to prevent rust and corrosion. Keep the dust
cover over the hitch housing to prevent dirt and debris from entering.
The trailer hitch assembly is attached to the body of the vehicle with 8 nuts.

NOTE: The maximum permissible rear overhang for the coupling point is 47 inches (1186 mm).
NOTE: Always attach safety chains when towing. Cross the chains under the trailer tongue and attach to the trailer
eyelets to ensure the security of the trailer load.
CAUTION: Always remove the ball mount before installing or removing the hitch receiver from the vehicle (see
Attaching and Removing the Ball Mount on page 148).
WARNING: You must use the Model X trailer hitch when towing a trailer. Never attempt to attach a different
type of trailer hitch.
To install the trailer hitch receiver:
1. Remove the dust cover from the hitch housing.

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2. Insert the key into the locking cylinder on the hitch, and turn the cylinder so the top of the key is aligned with the
“unlocked” position.
3. Pull the locking cylinder out of the adapter approximately 1/8" (0.5 cm), and turn clockwise until the red marking
on the cylinder aligns with the white dot.

WARNING: Be careful when turning the locking cylinder. If it does not lock into the “Open Position”, it
automatically retracts into its original “Closed Position” and can pinch your fingers.
4. Firmly grasp the hitch from the bottom and align the triangular-shaped guides at the sides of the hitch with the
corresponding cutouts in the hitch housing.
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NOTE: Do not grasp the locking cylinder because it needs to rotate freely.
5. Push the hitch into the hitch housing until the locking cylinder rotates approximately 120° counter-clockwise and
automatically locks into the "Closed Position". The green area on the locking cylinder (above the white arrow)
aligns with the white dot on the housing.
6. Visually check to confirm that the hitch is fully inserted into the housing. Try pulling down on the hitch. The hitch
should not drop when you pull down.
NOTE: If the hitch does not lock into the housing, it falls out when you pull down on it.
7. Turn the key so the arrows align with the “locked” marking on the locking cylinder.
8. Remove the key and store it in a safe place (preferably inside the vehicle).
NOTE: The key can be removed only if the hitch is locked. This indicates a proper connection. Do not use the
hitch if the key is not removed.
NOTE: Tesla recommends making a note of the key code. You need this code if you lose the keys and need to
order a replacement.

9. Close the dust cover to prevent dirt and debris from entering the lock. For newer version with push clips, reattach
the dust cover, snap it in place and open the push clips before pushing them in.
NOTE: To maintain the hitch, regularly grease its surfaces with non-resinous grease.
Disconnecting the Tow Hitch
After towing, remove the hitch:
1. Insert the key and turn to align the top of the key with the “unlocked” position.
2. While firmly holding the bottom of the hitch (to prevent it from dropping to the ground), pull the locking cylinder
out approximately 1/8" (0.5 cm), and turn it clockwise until the red marking on the locking cylinder aligns with
the white dot. At this point, the locking cylinder is locked in the "open" and the hitch drops out of the housing.
WARNING: Be careful when turning the locking cylinder. If it does not lock into the “Open Position”, it
automatically retracts into its original “closed" position and can pinch your fingers.
3. Reinstall the dust cover on the hitch housing to prevent dirt from accumulating inside the housing.
4. Close the dust cover on the hitch's locking cylinder and store the hitch in a secure location.
Attaching and Removing the Ball Mount
The Model X towing package does not include a ball mount. You must purchase a ball mount suitable for the type of
trailer you are towing. The Model X hitch receiver supports a ball mount up to 8” with a rise of up to 0.75”. Do not
use any type of drop ball mount.

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To attach a ball mount:
1. If necessary, remove the cotter pin from the locking bolt and slide the locking bolt out of the hitch assembly.
2. Slide the ball holder into the hitch assembly.
3. Align the hole in the ball holder with the one in the hitch assembly.
4. Slide the locking bolt through the hitch assembly/ball holder.
5. Insert the cotter pin in the hole at the end of the locking bolt.
To remove a ball mount:
1. Remove the cotter pin from the locking bolt and slide the locking bolt out of the ball holder/hitch assembly.
2. Pull the ball holder out of the hitch assembly.
Electrical Connections
Regulations require all trailers to be equipped with tail lights, brake lights, side marker lights, and turn signals. To
provide power for trailer lighting, a built-in seven-way wiring connector (SAE J560) is attached near the tow hitch.
Most trailer wiring plugs can be attached to this connector.

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1. Reverse Lights (Purple)
2. Brake Controller Output (Blue)
3. Right Turn Signal and Brake Light (Green)
4. Low Voltage Power (Red or Black)
5. Ground (White)
6. Left Turn Signal and Brake Light (Yellow)
7. Tail Lights and Running Lights (Brown)
NOTE: It is the driver's responsibility to ensure that all electrical connections are working, and all trailer lights are
operating before and during towing. Model X does not detect faulty trailer lights. You must perform manual checks.
NOTE: Loss of trailer lights when towing may be the result of a fault in the trailer wiring or excessive power
consumption by the lights connected to the trailer output(s). When this occurs, a red Trailer Mode icon appears on
the touchscreen. Fix any issues with the wiring and/or reduce the number of lights connected to the trailer
output(s), then toggle Trailer Mode off and on again.
Plugging trailer wiring into the Model X electrical connector automatically engages Trailer Mode (see Trailer Mode on
page 142).
WARNING: The brake controller output operates only when a brake controller is installed (see Trailer Brakes on
page 143).
WARNING: Use only the electrical connection designed by Tesla. Do not attempt to directly splice or attempt
to connect trailer electrical wiring using any other method. Doing so can damage the vehicle electrical system
and cause malfunctions.
CAUTION: Always ensure that the trailer electrical cable does not contact or drag on the ground and there is
enough slack in the cable to allow for turns.

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Impact on Range
Towing a trailer and carrying accessories increases vehicle weight and drag. As a result, driving range can decrease
significantly. Although Trip Planner attempts to adjust estimates based on Trailer Mode, actual energy consumption
may vary. Plan trip length and charging destinations accordingly.

Autopilot
About Autopilot
How It Works
Your Model X 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 behind the front bumper on the right 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.
5. A camera is mounted to each front fender.
6. Radar is mounted behind the front bumper.
Model X 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 154 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 are designed to increase your safety:
• Lane Assist (see Lane Assist on page 191)
• Collision Avoidance Assist (see Collision Avoidance Assist on page 194)
• Speed Assist (see Speed Assist on page 197)
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 155)
• Autosteer (see Autosteer on page 163)
• Auto Lane Change (see Auto Lane Change on page 166)
• Autopark (see Autopark on page 182)
• Summon (see Summon on page 185)
• Smart Summon (Smart Summon on page 188)
• Stop Light and Stop Sign Warning (see Stop Light and Stop Sign Warning on page 167)
• Navigate on Autopilot (see Navigate on Autopilot on page 168)
• Traffic Light and Stop Sign Control (see Traffic Light and Stop Sign Control on page 175)
• Full Self-Driving (Beta) (see Full Self-Driving (Beta) on page 172)
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 X 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 X 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 X 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 X 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 X 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 255).
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 84).
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 X 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 X 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 X. 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 X 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 X 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 163). 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 157.
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 160 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 X 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.
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 X to reach the new cruising speed, assuming Model X 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 X. When cruising behind a detected vehicle, Traffic-Aware Cruise Control accelerates and decelerates Model X
as needed to maintain a chosen following distance (see Adjust the Following Distance on page 159), up to the set
speed.
Traffic-Aware Cruise Control also adjusts the cruising speed when entering and exiting curves.

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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 X 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 X, the accelerator
pedal does not move.
WARNING: Traffic-Aware Cruise Control may occasionally cause Model X 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 X 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 X 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 X to exceed your set speed (and potentially the road's speed limit).
Never depend on Traffic-Aware Cruise Control to slow down Model X 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 X 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 160) 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 X has been at a standstill for 5 minutes.
• Model X detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model X suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model X.
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 X. 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 X.

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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 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 X 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 X,
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.

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 X 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 X 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 X 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.
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Acceleration cancels when one of the conditions happen:
• You reach your set cruising speed.
• Changing lanes takes too long.
• Model X 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 X 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 X 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.

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: When Traffic-Aware Cruise Control cancels, Model X does not coast. Instead, regenerative braking slows
down Model X 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 112).
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 X.
• 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 X 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 X at all times.
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 X has fully stopped but is in a HOLD state. If safe, press the accelerator pedal to resume cruising
at the set speed.

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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