140

Owners Manual
Trailer Brakes
When towing a loaded trailer that weighs more than 1000 lbs (450 kg), Tesla recommends that the trailer be
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.

141

Owners Manual

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.
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.

142

Owners Manual
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 143).
• 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.
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.

143

Owners Manual

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 147).
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.

144

Owners Manual

NOTE: Model X may have two push clips that secure the dust cover to the vehicle. To open, use a sharp object,
such as a flat screwdriver, to carefully pry the clips open. Remove the dust cover.

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.

145

Owners Manual
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.
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.

146

Owners Manual
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.

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.

147

Owners Manual

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 140).
WARNING: The brake controller output operates only when a brake controller is installed (see Trailer Brakes on
page 141).
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.

148

Owners Manual
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
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 X fully autonomous or replace you as the driver. Autopilot features come
standard with all new Tesla vehicles.
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 153).
• Autosteer: Maintains your speed and distance from a leading vehicle while also intelligently keeping Model X in its
lane (see Autosteer on page 153).
WARNING: Basic Autopilot is a hands-on feature. Keep your hands on the steering yoke (or 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 X into an adjacent lane when you engage the turn signal and Autosteer is active
(see Auto Lane Change on page 154).
• Navigate on Autopilot: Actively guides Model X 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 155).
• Autopark: Parks Model X, either parallel or perpendicularly (see Autopark on page 174).
• Summon: Moves Model X forward or backward, even while you’re outside the vehicle. This is useful for parking in
tight parking spots (see Summon on page 176).
• Smart Summon: Moves Model X 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
180).
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 X in its lane
while also slowing down and stopping for traffic lights and stop signs (see Traffic Light and Stop Sign Control on
page 163).
• Autosteer on City Streets (Full Self-Driving (Supervised)): 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 (Supervised) on page 169).
WARNING: Full Self-Driving Capability 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). Pay attention to the road at all times and always be prepared to take immediate action. Failure to
follow these instructions could cause damage, serious injury or death.

149

Owners Manual
Autopilot uses the cameras on Model X, 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 X (see Cameras on page 22).
Model X may also be 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, pay attention to the road, and be ready to
take immediate action at any time.
When Autopilot is engaged, Model X 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 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.
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 182.

150

Owners Manual
Autopilot Conditions
Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot features (see
Cleaning a Camera on page 260). 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 X
displays a message on the instrument cluster and Autopilot features may not be available. For more information on
specific alerts, see Troubleshooting Alerts on page 302.
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 23.
In addition, these features may not work as intended when:
• The road has sharp curves or significant changes in elevation.
• Road signs and signals are unclear, ambiguous, or poorly maintained.
• Visibility is poor (due to heavy rain, snow, hail, etc. or poorly lit roadways at night)
• You are driving in a tunnel or next to a highway divider that interferes with the view of the camera(s)
• Bright light (such as from oncoming headlights or direct sunlight) interferes with the view of the camera(s).
The 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 182.
Autopilot
Feature
Traffic-Aware
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 (1.5 meters) ahead of Model X.

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 meters) ahead of Model X.
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 instrument panel 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 #unique_330
on page ) 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 meters) ahead of Model X.
• You are driving on a controlled-access highway. When you leave a controlled-access highway,
Navigate on Autopilot reverts to Autosteer.

Full SelfDriving
(Supervised)

151

• You are driving less than 85 mph (150 km/h).

Owners Manual
Autopilot
Feature

Available When
NOTE: You can activate Full Self-Driving (Supervised) at lower speeds, including when
Model X is at a standstill, whether or not there is a vehicle detected in front of Model X.
• Headlights are set to On or Auto. Although Full Self-Driving (Supervised) 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 (Supervised) is engaged, Auto High Beam is
automatically enabled (see #unique_330 on page ) 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 X 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 X (see Traffic-Aware Cruise Control on page 153).
• 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 X in its driving lane (see
Autosteer on page 153).
NOTE: Autosteer is a BETA feature.
• Auto Lane Change: When you engage a turn signal while Autosteer is active, Auto Lane Change moves Model X
into the adjacent lane in the direction indicated by the turn signal (see Auto Lane Change on page 154).
• 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 X to suggest and, if configured,
automatically change lanes to pass other vehicles and follow the navigation route (see Navigate on Autopilot on
page 155).
NOTE: Navigate on Autopilot is a BETA feature.
Traffic-Aware Cruise Control and Autosteer use information from the cameras on Model X to detect lane markings,
road edges, and other vehicles and road users around Model X.
CAUTION: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot
features (see Cleaning a Camera on page 260). 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 X displays a message on the instrument cluster and Autopilot features may not
be available. For more information on specific alerts, see Troubleshooting Alerts on page 302.
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 182.
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).
• Autopilot Activation: Choose how to activate Autosteer. If set to Single Click, both Traffic-Aware Cruise Control
and Autosteer engage when you single-press the right scroll wheel. If set to Double Click, you must double-press
the right scroll wheel to engage Autosteer.

152

Owners Manual
NOTE: Autopilot Activation must be set to Double Click 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.
Traffic-Aware Cruise Control
Traffic-Aware Cruise Control is always enabled.
When Traffic-Aware Cruise Control is available but not engaged, the instrument cluster 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, press the right scroll wheel, 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 Autopilot Activation is set to Single Click, pressing the right scroll wheel once also activates Autosteer
(which includes Traffic-Aware Cruise Control). Touch Controls > Autopilot > Autopilot Activation and choose Double
Click to use Traffic-Aware Cruise Control independently of Autosteer when you single-press the right scroll wheel.
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 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. For more information, see Limitations and Warnings on page 182.
Autosteer
To enable Autosteer:
1. Touch Controls > Autopilot > Autopilot Features > Autosteer (Beta).
2. After carefully reading and understanding the popup window, touch Yes.
To indicate that Autosteer is available (but not actively steering Model X), the instrument panel displays
a gray Autosteer icon. 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 initiate Autosteer, press the right scroll wheel.
NOTE: If the setting for Autopilot Activation is set to Double Click, you must double-press the right scroll wheel to
engage Autosteer (see Autopilot Settings on page 152).
Autosteer confirms activation with an audible chime and briefly displays a message on the instrument cluster
reminding you to pay attention to the road and be ready to take over at any time.

153

Owners Manual
To indicate that Autosteer is now active, the instrument cluster displays the Autosteer icon in blue.

When Autosteer is able to detect lane markings, it displays the edges of the driving lane in blue on the instrument
cluster.

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 X 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 yoke (or steering wheel), you can increase your set speed again, if
desired.
WARNING: Steering is limited when Autosteer is enabled. Therefore, Model X may not be able to handle tight
turns. Be prepared to take control of the vehicle at all times.
WARNING: Autosteer is a hands-on assistance feature. Keep your hands on the steering yoke (or 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 182.
Auto Lane Change
If you engage a turn signal while Autosteer is active, Model X 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 X must detect the target lane's outside lane marking. If this lane marking
is not detected, the lane change is aborted and Model X returns to its original driving lane.

154

Owners Manual
• The view of the camera(s) is not obstructed.
• Model X 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 instrument
cluster and Model X does not complete the lane change until it is safe to do so.

NOTE: Auto Lane Change cancels if the lane change cannot be completed in 5 seconds.
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 instrument cluster displays a series of
warnings. Therefore, when using Auto Lane Change, always pay attention to the instrument cluster and be
prepared to manually steer Model X.
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 X to accelerate closer to a vehicle in front (see
Overtake Acceleration on page 160).
When you engage a turn signal, Autopilot moves Model X 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 X 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 instrument cluster displays the location in the lane that Model X is moving into.
Navigate on Autopilot
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).

155

Owners Manual
• 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 X in a passing lane except when needed to stay on the
navigation route.
• Require Lane Change Confirmation: By default, Navigate on Autopilot requires your confirmation before
proceeding with a lane change by pressing the appropriate turn signal. If you do not confirm the lane change
within 3 seconds, a chime sounds to remind you that Navigate on Autopilot requires your confirmation to change
lanes.
• Lane Change Notification: You can specify if or how you want to be notified of lane changes (Off, Chime, Vibrate,
or Both).
If Enable at Start of Every Trip is turned on, Navigate on Autopilot engages automatically when:
• 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 instrument cluster
displays the driving lane as a single blue line in front of Model X:

156

Owners Manual
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 X automatically makes both speed-based and route-based lane
changes after driver confirmation.
• Speed Based Lane Changes: Navigate on Autopilot changes lanes to reduce driving time to your destination. For
example, if Model X 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 X approaches the off-ramp specified by the
navigation route.
When the instrument cluster displays a message asking you to confirm the lane change, engage the appropriate turn
signal. If you do not confirm the lane change within 3 seconds, a chime sounds to remind you that Navigate on
Autopilot requires your confirmation to change lanes. Auto Lane Change cancels if the lane change cannot be
completed in 5 seconds.
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.
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 218). 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 X onto the off-ramp or interchange.
When you leave a controlled-access highway Navigate on Autopilot reverts to Autosteer—a chime sounds and the
instrument cluster displays the driving lane lines in blue (instead of the single blue in front of Model X). 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 yoke (or 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 182.
Canceling Autopilot
Traffic-Aware Cruise Control cancels when:
• You press the right scroll wheel on the steering yoke (or steering wheel).
• 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 193).
• 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 instrument cluster turns gray to indicate
that Traffic-Aware Cruise Control is no longer active.

157

Owners Manual
Autosteer cancels when any of the above actions are taken. In addition, Autosteer cancels when:
• You exceed 85 mph (140 km/h).
• You take over steering manually.You apply rotational force to the steering yoke (or steering wheel) (even a slight
amount).
WARNING: If Autopilot Activation is set to Double Click and Autosteer cancels because you started
steering manuallyapplied rotational force to the steering yoke (or steering wheel), Traffic-Aware Cruise
Control remains active. If Autopilot Activation is set to Single Click and Autosteer cancels because you
started steering manuallyapplied rotational force to the steering yoke (or steering wheel), 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
instrument cluster (see Driver Attentiveness on page 161).
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 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 119).
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 instrument cluster.