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.

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2. Remove the cover located under the dashboard in the driver’s side footwell.

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

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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 cause a collision.
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.
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. Consider having someone help you with these steps:
1. One person presses and holds the brake pedal.
2. A second person places the wheel chocks under the wheels on the downgrade side of the vehicle's tires.
3. 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 105) is not engaged. If Vehicle
Hold is braking Model Y, the Vehicle Hold indicator light displays on the touchscreen. To disengage Vehicle Hold,
press and release the brake pedal.
4. 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 or injury.
Trailer Sway Mitigation
When trailer sway is detected, the electronic stability control system attempts to apply the appropriate amount of
braking to minimize trailer sway. The touchscreen 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.
Attaching and Removing the Ball Mount
The Model Y 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 Y hitch receiver supports a ball mount with a length of up to 8.5” (22 cm) and a
rise of up to 0.75” (2 cm). Do not use any type of drop ball mount that does not meet these requirements.

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To attach a ball mount:
1. Use a thin object, such as a butter knife or flat blade screwdriver, to pry around the edges of tow hitch cover and
release the 15 clips that secure the cover to the rear fascia. Store the dust cover in a secure location.

2. If necessary, remove the cotter pin from the locking bolt and slide the locking bolt out of the hitch assembly.
3. Slide the ball holder into the hitch assembly.
4. Align the hole in the ball holder with the one in the hitch assembly.
5. Slide the locking bolt through the hitch assembly/ball holder.
6. 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.

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3. Re-install the dust cover for the hitch housing and store the ball mount in a secure location.
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 7-pin wiring connector is provided near the hitch support's wiring plugs
for most types of trailers. Plugging in trailer wiring into the Model Y electrical connector automatically engages
Trailer Mode (see Trailer Mode on page 120). It is the driver’s responsibility to ensure that all electrical connections
are working and all trailer lights are operating before and during towing. You must perform manual checks.

1. Reverse Lights
2. Brake Controller Output
3. Right Turn Signal and Brake Light
4. Low Voltage Power (if equipped)
5. Ground
6. Left Turn Signal and Brake Light
7. Tail Lamps
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.
NOTE: Vehicles with a lead-acid low voltage battery have auxiliary power. Vehicles with low voltage lithium-ion
batteries do not have auxiliary power at this time. You can determine which battery your vehicle is equipped with by
touching Controls > Software > Additional Vehicle Information.
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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WARNING: Use only the electrical connections designed by Tesla. Do not attempt to directly splice or attempt
to connect a trailer’s electrical wiring using any other method. Doing so can damage the vehicle's electrical
system and cause malfunctions.
Impact on Range
Towing a trailer increases vehicle weight and drag. As a result, driving range can decrease significantly. Although Trip
Planner (if available in your market region) attempts to adjust estimates based on Trailer Mode, actual energy
consumption may vary. Plan trip length and charging destinations accordingly.

Autopilot
About Autopilot
Autopilot is a suite of advanced driver assistance features that are intended to make driving safer and less stressful.
None of these features make Model Y fully autonomous or replace you as the driver. Autopilot features come
standard with all new Tesla vehicles.
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle
may not be equipped with all features listed below, or a feature may not operate as described.
Basic Autopilot includes Traffic-Aware Cruise Control and Autosteer.
• Traffic-Aware Cruise Control: Maintains your speed and an adjustable following distance from the vehicle in front
of you, if there is one (see Traffic-Aware Cruise Control on page 129).
• Autosteer: Maintains your speed and distance from a leading vehicle while also intelligently keeping Model Y in its
lane (see Autosteer on page 129).
WARNING: Basic Autopilot is a hands-on feature. Keep your hands on the steering wheel at all times and be
mindful of road conditions, surrounding traffic, and other road users (such as pedestrians and cyclists). Always
be prepared to take immediate action. Failure to follow these instructions could cause damage, serious injury
or death.
Enhanced Autopilot includes additional features. Enhanced Autopilot Features are designed to further reduce driver
workload and make common actions, such as changing lanes or parking, easier.
• Auto Lane Change: Moves Model Y into an adjacent lane when you engage the turn signal and Autosteer is active
(see #unique_233__unique_233_Connect_42_GUID-BDFD71E2-267F-48A6-A4A0-D5CBEA547ABD on page
).
• Navigate on Autopilot: Actively guides Model Y from a highway’s on-ramp to off-ramp, including performing lane
changes, navigating interchanges, automatically engaging the turn signal, and taking the correct exit (see
Navigate on Autopilot on page 131).
• Autopark: Parks Model Y, either parallel or perpendicularly (see Autopark on page 152).
• Summon: Moves Model Y forward or backward, even while you’re outside the vehicle. This is useful for parking in
tight parking spots (see Summon on page 154).
• Smart Summon: Moves Model Y out of a parking space and through more complex environments, maneuvering
around obstacles and other vehicles, to meet you or go to a predetermined target (see Smart Summon on page
157).
WARNING: Enhanced Autopilot is a hands-on feature. Keep your hands on the steering wheel at all times and
be mindful of road conditions, surrounding traffic, and other road users (such as pedestrians and cyclists).
Always be prepared to take immediate action. Failure to follow these instructions could cause damage, serious
injury or death.
Full Self-Driving Capability includes:
• Traffic Light & Stop Sign Control: Maintains your speed, keeps a following distance, and keeps Model Y in its lane
while also slowing down and stopping for traffic lights and stop signs (see Traffic Light and Stop Sign Control on
page 145).

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• Autosteer on City Streets (Full Self-Driving (Beta)): Attempts to drive to your destination by following curves in
the road; stopping at and negotiating intersections, stop signs, and roundabouts; making left and right turns; and
entering/exiting highways (see Full Self-Driving (Beta) on page 139).
WARNING: Full Self-Driving (Beta) is a hands-on feature. Keep your hands on the steering wheel at all times
and be mindful of road conditions, surrounding traffic, and other road users (such as pedestrians and
cyclists). Always be prepared to take immediate action. Failure to follow these instructions could cause
damage, serious injury or death.
Autopilot uses the cameras on Model Y, which monitor the surrounding area and detect other vehicles, pedestrians,
road markings, and obstacles such as barriers and curbs. There are cameras mounted on the front, rear, left, and
right sides of Model Y (see Cameras on page 24).
Model Y is also equipped with a cabin camera, mounted in the rear-view mirror, that monitors driver attentiveness. It
is your responsibility to keep your hands on the wheel and be ready to take immediate action at any time.
When Autopilot is engaged, Model Y shows a series of escalating warnings reminding you to keep your hands on the
wheel and pay attention to the road. If there is no response, Autopilot disengages and is unavailable for the
remainder of the drive.
WARNING: Autopilot 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 Autopilot to adequately slow down Model Y. 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.
It is your responsibility to familiarize yourself with the limitations of Autopilot and be ready to take control at all
times. For more limitations, cautions, and warnings, see Limitations and Warnings on page 159.

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Autopilot Conditions
Ensure all cameras are clean before each drive and before using Autopilot features (see Cleaning a Camera on page
243). Dirty cameras and sensors (if equipped), as well as environmental conditions such as rain and faded lane
markings, can affect Autopilot performance. If a camera is obstructed or blinded, Model Y displays a message on the
touchscreen and Autopilot features may not be available.
Before you can use Autopilot features, and after some Service visits, you must drive a short distance to calibrate
cameras. For more information, see Drive to Calibrate Cameras on page 26.
In addition, these features may not work as intended when:
• 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) interferes with the view of the camera(s).
The above list above does not represent an exhaustive list of situations that may interfere with proper operation of
Autopilot features. For more information, see Limitations and Warnings on page 159.
Autopilot
Feature
TrafficAware
Cruise
Control

Available When

• You are driving between 18 mph (30 km/h) and 90 mph (150 km/h)85 mph (140 km/h)
NOTE: You can activate Traffic-Aware Cruise Control at lower speeds if there is a vehicle detected
at least 5 feet (1.50 m) ahead of Model Y.

Autosteer
• You are driving between 18 mph (30 km/h) and 90 mph (150 km/h)85 mph (140 km/h)
NOTE: You can activate Autosteer at lower speeds if there is a vehicle detected at least 5 feet (1.5
m) ahead of Model Y.
NOTE: On a residential road, a road without a center divider, or a road that is not controlled
access, the maximum allowed cruising speed is limited and the touchscreen displays a message.
The restricted speed will be the speed limit of the road plus 5 mph (10 km/h)
• Headlights are set to On or Auto. Although Autopilot is available both during the day and in low
light conditions (dusk or dark), Autosteer aborts or is unavailable if headlights are set to Off.
When Autosteer is engaged, Auto High Beam is automatically enabled (see High Beam
Headlights on page 91) and wipers are set to Auto.
Navigate on
Autopilot

• You are driving between 18 mph (30 km/h) and 90 mph (150 km/h)85 mph (140 km/h).
NOTE: You can activate Navigate on Autopilot at lower speeds if there is a vehicle detected at
least 5 feet (1.5 m) ahead of Model Y,
• You are driving on a controlled-access highway. When you leave a controlled-access highway,
Navigate on Autopilot reverts to Autosteer.

Full SelfDriving
(Beta)

127

• You are driving less than 85 mph (150 km/h).
NOTE: You can activate Full Self-Driving (Beta) at lower speeds, including when Model Y is at a
standstill, whether or not there is a vehicle detected in front of Model Y.

Owners Manual
Autopilot
Feature

Available When
• Headlights are set to On or Auto. Although Full Self-Driving (Beta) is available both during the
day and in low light conditions (dusk or dark), it aborts or is unavailable if headlights are set to
Off. When Full Self-Driving (Beta) is engaged, Auto High Beam is automatically enabled (see
High Beam Headlights on page 91) and wipers are set to Auto.

Autopilot Features
This topic describes how to enable and use the following driver assistance features.
• Traffic-Aware Cruise Control: Like traditional cruise control, Traffic-Aware Cruise Control maintains a set driving
speed. However, Traffic-Aware Cruise Control also slows down or accelerates Model Y as needed to maintain the
following distance from the vehicle in front of you. While Traffic-Aware Cruise Control is engaged, you are still
responsible for steering Model Y (see Traffic-Aware Cruise Control on page 129).
• Autosteer: Like Traffic-Aware Cruise Control, Autosteer maintains a set speed (if there is not a vehicle in front of
you) or a set following distance (if there is a vehicle in front of you). In addition, Autosteer detects lane markings,
road edges, and the presence of vehicles and objects to intelligently keep Model Y in its driving lane (see
Autosteer on page 129).
NOTE: Autosteer is a BETA feature.
• Auto Lane Change: When you engage a turn signal while Autosteer is active, Auto Lane Change moves Model Y
into the adjacent lane in the direction indicated by the turn signal (see Auto Lane Change on page 130).
• Navigate on Autopilot: Navigate on Autopilot builds on the features of Traffic-Aware Cruise Control and
Autosteer. While Autosteer is active, Navigate on Autopilot allows Model Y to suggest and, if configured,
automatically change lanes to pass other vehicles and follow the navigation route (see Navigate on Autopilot on
page 131).
NOTE: Navigate on Autopilot is a BETA feature.
Traffic-Aware Cruise Control and Autosteer use information from the cameras on Model Y to detect lane markings,
road edges, and other vehicles and road users around Model Y.
CAUTION: Before using Autopilot features, ensure that all cameras are clean and free of obstructions (see
Cleaning a Camera on page 243). Dirty cameras and sensors (if equipped), as well as environmental conditions
such as rain and faded lane markings, affect Autopilot performance.
CAUTION: It is your responsibility to familiarize yourself with the limitations of Autopilot and the situations in
which driver intervention may be needed. For more information, see Limitations and Warnings on page 159.
Autopilot Settings
Before you use Autopilot features, customize how they work by touching Controls > Autopilot.
• Set Speed: Choose whether Autopilot engages at the currently detected speed limit or your current driving
speed. Touch Controls > Autopilot > Set Speed and choose either Speed Limit or Current Speed.
• Offset: If you choose Speed Limit, you can specify an offset by touching Set Speed Offset. You can choose Fixed
(the cruising speed adjusts by a specific amount on all roads) or Percentage (the cruising speed is adjusted as a
percentage of the road's detected speed limit).
• Autosteer Activation: Choose how to activate Autosteer. If set to Single Pull, both Traffic-Aware Cruise Control
and Autosteer engage when you pull the drive stalk down once. If set to Double Pull, you must pull the drive stalk
down twice in quick succession to engage Autosteer.
NOTE: Autosteer Activation must be set to Double Pull if you want to use Traffic-Aware Cruise Control
independently of Autosteer.
• Green Traffic Light Chime: In Canada and U.S.: If on, a chime will sound when you are waiting at a red traffic light
and the light turns green. If you are not actively using Traffic-Aware Cruise Control and are waiting at a red light
with a car in front of you, the chime sounds when the car ahead of you advances.
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Traffic-Aware Cruise Control
Traffic-Aware Cruise Control is always enabled.
When Traffic-Aware Cruise Control is available but not engaged, the touchscreen displays the cruising
speed in gray. The number shown represents the speed that will be set when you engage Traffic-Aware
Cruise Control.

When Traffic-Aware Cruise Control is actively cruising at a set speed, the speed is highlighted with blue
text.

To engage Traffic-Aware Cruise Control when it is available (the car status area of the touchscreen displays the gray
cruising speed icon), pull the drive stalk down once, then release the accelerator pedal to allow Traffic-Aware Cruise
Control to maintain the cruising speed. You can apply the accelerator at any time to temporarily override the set
cruising speed.

NOTE: If Autosteer Activation is set to Single Pull, pulling the drive stalk down once also activates Autosteer (which
includes Traffic-Aware Cruise Control). Touch Controls > Autopilot > Autosteer Activation and choose Double Pull to
use Traffic-Aware Cruise Control independently of Autosteer when you pull the drive stalk down once.
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 Y. 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 159.
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 Y), 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 128).

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 Y 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 159.
Auto Lane Change
If you engage a turn signal while Autosteer is active, Model Y 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 Y must detect the target lane's outside lane marking. If this lane marking
is not detected, the lane change is aborted and Model Y returns to its original driving lane.
• The view of the camera(s) is not obstructed.

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• Model Y 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 Y 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 Y.
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 Y to accelerate closer to a vehicle in front (see
Overtake Acceleration on page 138).
When you engage a turn signal, Autopilot moves Model Y 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 Y 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 Y 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 Y 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 Y:

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 Y 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 Y 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 Y 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 192). 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 Y 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 Y). 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 159.
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 Y 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 168).
• 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 139).
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 Y does not coast. Instead, regenerative braking slows
down Model Y 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 98).
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 Y.
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 Y 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 Y maintains your set cruising speed whenever a vehicle is not detected in front of it.
When cruising behind a vehicle, Model Y accelerates and decelerates as needed to maintain a chosen following
distance (see Adjusting the Following Distance on page 135), up to the set speed.
You can manually accelerate at any time by pressing the accelerator pedal, but when you release the pedal Model Y
resumes cruising at the set speed.
Model Y also adjusts the cruising speed when entering and exiting curves.
When Model Y 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 Y 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 Y to reach the new cruising speed.

Adjusting the Following Distance
To adjust the following distance you want to maintain between Model Y 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 139).
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 Y, 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 Y automatically reduces the driving speed.
This is especially helpful in heavy traffic situations or when vehicles are constantly merging into different lanes.
When Model Y detects other vehicles driving significantly slower, the touchscreen highlights the adjacent lanes with
arrows and detected vehicles in gray, and Model Y 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 Y comes to a full stop. For
example, Autopilot remains active even if Model Y 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 Y 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 Y goes into HOLD state while Autopilot is active in the following circumstances:
• Model Y has been at a standstill for 5 minutes.
• Model Y detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model Y suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model Y.

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 Y. 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 Y 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 133). In this case,
Autosteer remains active.