When Autosteer is active, the steering yoke (or 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
instrument cluster displays the driving lane as a single blue line in front of Model X.
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 X 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 X maintains your set cruising speed whenever a vehicle is not detected in front of it.
When cruising behind a vehicle, Model X accelerates and decelerates as needed to maintain a chosen following
distance (see Adjusting the Following Distance on page 159), up to the set speed.
You can manually accelerate at any time by pressing the accelerator pedal, but when you release the pedal Model X
resumes cruising at the set speed.
Model X also adjusts the cruising speed when entering and exiting curves.
When Model X 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 X is accelerating, the accelerator
pedal does not move.

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

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

Adjusting the Following Distance
To adjust the following distance you want to maintain between Model X and a vehicle traveling ahead of you, touch
Controls > Autopilot > Cruise Follow Distance.
The closest following distance is 2.The closest following distance is 1.
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. Autopilot retains your setting until you
change it again.

Stopping and Slowdowns
When moving significantly faster than vehicles in adjacent lanes, Model X automatically reduces the driving speed.
This is especially helpful in heavy traffic situations or when vehicles are constantly merging into different lanes.
When Model X detects other vehicles driving significantly slower, the instrument cluster highlights the adjacent lanes
with arrows and detected vehicles in gray, and Model X 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 X comes to a full stop. For
example, Autopilot remains active even if Model X 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 X 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 instrument cluster displays the HOLD icon and a message that
indicates that you need to resume cruise control.

Model X goes into HOLD state while Autopilot is active in the following circumstances:
• 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 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 X. 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 X will perform a route-based lane change to enter the exit lane and
take the off-ramp as necessary to follow the navigation route.
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 157). In this case,
Autosteer remains active.

Overtake Acceleration
Engage the turn signal momentarily to accelerate Model X towards the vehicle ahead of it. By momentarily holding
the turn signal, you can quickly accelerate up to your set speed without having to press the accelerator pedal as long
as:
• Traffic-Aware Cruise Control is operating and detects a vehicle in front of you.

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• 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).
NOTE: If Autosteer is active and you fully engage the turn signal, Model X will change lanes automatically (see Auto
Lane Change on page 154).
Model X stops accelerating when you reach your set cruising speed, if changing lanes takes too long, or if Model X
gets too close the vehicle ahead. Model X also stops accelerating if you disengage the turn signal.

Stop Light and Stop Sign Warning
While Autopilot is in use, Model X displays a warning on the instrument cluster and sounds a chime if it detects that
you are likely to run through a red stop light or stop sign. If this happens, TAKE IMMEDIATE CORRECTIVE ACTION!
The visual and audible warnings cancel after a few seconds or when you press the brake pedal, whichever comes
first.
Stop Light and Stop Sign Warning provides warnings only. It does not slow down or stop Model X at red traffic
lights, stop signs, road markings, etc. If equipped with Traffic Light and Stop Sign Control, you can enable this
feature to automatically stop Model X at traffic lights and stop signs (see Traffic Light and Stop Sign Control on page
163).
Emergency Vehicles
Model X automatically reduces driving speed when lights from an emergency vehicle are detected when using
Autosteer at night on a high speed road. When this happens, the instrument cluster displays a message informing
you of the slowdown. You will also hear a chime, and see a reminder to keep your hands on the steering yoke (or
steering wheel). When the light detections pass by or cease to appear, Autopilot resumes your cruising speed.
Alternatively, you may tap the accelerator to resume your cruising speed.
Never depend on Autopilot features to determine the presence of emergency vehicles. Model X may not detect
lights from emergency vehicles. Keep your eyes on your driving path and always be prepared to take immediate
action.
Driver Attentiveness
Autosteer determines how best to steer Model X. When active, Autosteer requires you to hold the steering wheel. If
it does not detect your hands on the steering wheel for a period of time, a flashing blue light appears at the top of
the vehicle status section of the instrument cluster and the following message displays:
Steering yoke alert:
Apply slight turning force to steering yoke

Steering wheel alert:
Apply slight turning force to steering wheel

When your hands are detected, the message disappears and Autosteer resumes normal operation. Autosteer detects
your hands by recognizing slight resistance as the steering wheel turns, or from you manually turning the steering
wheel very lightly (without enough force to take over steering). Autosteer also qualifies your hands as being
detected if you engage a turn signal or use a button or scroll wheel on the steering wheel.

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Autosteer requires that you pay attention to your surroundings and remain prepared to take control at any time. If
Autosteer still does not detect your hands on the steering wheel, the flashing light on the vehicle status section of
the instrument cluster increases in frequency and a chime sounds.
If you repeatedly ignore Autosteer's prompts to apply slight force to the steering wheel, Autosteer disables for the
rest of the drive and displays the following message requesting you to drive manually.
Autosteer unavailable for the rest of this drive. Hold steering yoke (or steering wheel) to drive
manually.

For the rest of the drive, you must steer manually. Autosteer is available again on your next drive (after you stop and
shift Model X into Park).
If you don't resume manual steering, Autosteer sounds a continuous chime, turns on the warning flashers, and slows
the vehicle to a complete stop.
Autosteer Suspension
Use of Autosteer will be suspended if improper usage is detected.
When you or another driver of your vehicle receives five forced Autopilot disengagements, use of Autosteer is
suspended for a week. A forced disengagement is when the Autopilot system disengages for the remainder of a trip
after the driver receives several audio and visual warnings for inattentiveness. Driver-initiated disengagements do
not count as improper usage.
You can see how many disengagements are remaining before Autosteer access is suspended by touching Controls >
Autopilot.
NOTE: If your access to Autosteer is suspended, you are still able to use Traffic-Aware Cruise Control and all active
safety features are still enabled.
Take Over Steering Immediately
In situations where Autosteer is unable to steer Model X, Autosteer sounds a warning chime and displays the
following message on the instrument panel.
Take over immediately

When you see this message, TAKE OVER STEERING IMMEDIATELY.

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Traffic Light and Stop Sign Control
NOTE: Traffic Light and Stop Sign Control is a BETA feature and works best on roads that are frequently driven by
Tesla vehicles. Traffic Light and Stop Sign Control attempts to stop at all traffic lights and may also stop at green
lights.
Traffic Light and Stop Sign Control is designed to recognize and respond to traffic lights and stop signs, slowing
Model X to a stop when using Traffic-Aware cruise control or Autosteer. This feature uses the vehicle's forwardfacing cameras, in addition to GPS data, and slows the car for all detected traffic lights, including green, blinking
yellow, and off lights in addition to stop signs and some road markings. As Model X approaches an intersection, the
instrument cluster displays a notification indicating the intention to slow down. You must confirm that you want to
continue or Model X stops at the red line displayed on the instrument cluster's driving visualization.
WARNING: NEVER make assumptions and predict when and where Traffic Light and Stop Sign Control will
stop or continue through an intersection or road marking. From a driver's perspective, the behavior of Traffic
Light and Stop Sign Control may appear inconsistent. Always pay attention to the roadway and be prepared to
take immediate action. It is the driver's responsibility to determine whether to stop or continue through an
intersection. Never depend on Traffic Light and Stop Sign Control to determine when it is safe and/or
appropriate to stop or continue through an intersection.
Before Using
Before using Traffic Light and Stop Sign Control, you must:
• Ensure that forward-facing cameras are unobstructed (see Cleaning a Camera on page 260) and calibrated (see
Drive to Calibrate Cameras on page 23). Traffic Light and Stop Sign Control depends on the ability of the cameras
to detect traffic lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model X. Although Traffic Light and Stop Sign
Control primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using
the most recent map data. To check which version of maps is currently downloaded, touch Controls > Software.
You must connect to a Wi-Fi network to receive updated maps (see Map Updates on page 224).
• Enable the feature. With the vehicle in Park, touch Controls > Autopilot > Traffic Light and Stop Sign Control.
Once enabled, Traffic Light and Stop Sign Control operates whenever Traffic-Aware Cruise Control or Autosteer is
active.
How it Works
When Traffic Light and Stop Sign Control is enabled and you are using Autosteer, Traffic-Aware Cruise Control, or
Full Self-Driving (Supervised), the instrument cluster displays a popup message to inform you that an upcoming
traffic light, stop sign, or road marking has been detected. As it approaches the stop location, even at an
intersection where the traffic light is green, Model X slows down and displays a red line to indicate where Model X
will stop. To continue through the intersection—even if the traffic light is green —you must briefly press the
accelerator pedal to give the vehicle permission to proceed. When you've confirmed that you want to proceed, the
red stop line turns gray and Model X continues through the intersection and resumes your set cruising speed.
NOTE: If Model X is approaching a green light and detects that a vehicle in front of you is continuing through the
intersection, Model X continues through the intersection without requiring your confirmation, provided you are not in
a turning lane and the vehicle can detect that your hands are on the steering yoke (or steering wheel).
NOTE: If, after you briefly press the accelerator pedal to confirm that you want to continue through the intersection,
the traffic signal changes before you enter the intersection (for example, the light changes from green to yellow or
from yellow to red), Model X may determine that it is not appropriate to proceed. Therefore, Model X stops and you
must press the accelerator to proceed. At all times, it is your responsibility to ensure the vehicle stops or accelerates
appropriately and safely.
WARNING: Traffic Light and Stop Sign Control DOES NOT turn Model X through an intersection unless Full
Self-Driving (Supervised) is engaged. When in a turning lane, Model X stops at the red stop line. To proceed,
briefly press the accelerator pedal—Model X continues straight through the intersection (even when in a
turning lane), so you MUST manually steer Model X through the intersection (which cancels Autosteer).
Traffic Light and Stop Sign Control is designed to operate as described only when the following conditions are met:

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• Autosteer, Full Self-Driving (Supervised), or Traffic-Aware Cruise Control is engaged.
• The cameras can detect an upcoming traffic light, stop sign or road marking (for example, cameras are
unobstructed and have a clear line-of-sight to the traffic light, stop sign, or road marking).
• The instrument cluster on Model X is displaying an upcoming traffic light in "bold" format. Model X does not
acknowledge traffic lights that the instrument cluster shows as faded. If a traffic light is not directly ahead of the
camera (for example, it is located at an angle of the camera's view, or located in an adjacent lane) the instrument
cluster displays it as faded and Model X does not slow down and stop for it.
WARNING: If the instrument cluster is not displaying a red stop line at an upcoming intersection, Model X does
not slow down or stop. It is the driver's responsibility to pay attention to upcoming intersections and monitor
traffic conditions to determine when and if the vehicle should stop and then to take appropriate action as
needed.
WARNING: Never depend on Traffic Light and Stop Sign Control to determine whether to stop at, or proceed
through, an intersection. Drive attentively by watching the road and paying attention to the roadway,
upcoming intersections, traffic conditions, crosswalks, and other road users. It is always the driver's
responsibility to determine whether to stop or proceed. Be prepared to take immediate action. Failure to do so
can result in injury or death.
WARNING: In some situations, Traffic Light and Stop Sign Control may inaccurately detect a traffic light or
stop sign, causing Model X to slow down unexpectedly. Be prepared to take immediate action at all times.
WARNING: You must briefly press the accelerator pedal to confirm that you want to proceed through an
intersection, regardless of the status of the traffic light. If you do not confirm, Model X stops at the red stop
line displayed on the instrument cluster, even if stopping may be inappropriate. Stopping at a green light may
confuse other drivers and may result in a collision, injury or death. Therefore, always pay attention to upcoming
intersections and be prepared to manually brake or accelerate in response to surroundings.
WARNING: Never assume that your ability to see a traffic light, stop sign, or road marking (especially at a
complex intersection, or an intersection in which a traffic light or sign is partially obstructed, etc.) means that
Model X can also see it and respond appropriately.
WARNING: Even the most recent map data does not include all traffic lights and stop signs. Therefore, Traffic
Light and Stop Sign Control relies heavily on the ability of the cameras to detect traffic lights, stop signs, road
markings, etc. As a result, Model X may ignore an intersection that is blocked from the camera's view (for
example, obstructed by a tree or a large vehicle or object, or located near a steep hill or sharp curve).
WARNING: Traffic Light and Stop Sign Control is not a substitute for attentive driving and sound judgment.

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Traffic Lights

When driving with Autosteer or Traffic-Aware Cruise Control engaged, and Traffic Light and Stop Sign Control
enabled, Model X is designed to respond as follows when approaching intersections controlled by a traffic light:
Type of Traffic Light

Vehicle Intended Response
At a solid green traffic light, or at a traffic light that is currently off (not
illuminated), Model X slows down.
If you are following a car in front of you that continues through the intersection,
the instrument cluster displays a green stop line and provided your hands are
detected on the steering yoke (or steering wheel), Model X also continues. If a car
is not in front of you, the instrument cluster displays a red stop line and you must
confirm that you want to continue through the intersection by briefly pressing the
accelerator pedal. If you don’t confirm, Model X stops at the red stop line.
NOTE: Model X resumes the set cruising speed when it continues through the
intersection, taking into consideration the speed of a vehicle in front of you.

Model X slows down and comes to a complete stop at the red stop line displayed
on the instrument cluster. When you want to continue through the intersection (for
example, the light turns green again, or once Model X has come to a complete
stop), you must briefly press the accelerator pedal.

Model X slows down and comes to a complete stop at the red stop line displayed
on the instrument cluster. When you want to proceed through the intersection (for
example, the light turns green again), you must briefly press the accelerator pedal.
NOTE: If the traffic light changes after you've confirmed that you want to proceed
(for example, a green traffic light turns yellow), Model X may stop instead of
continuing, especially if Model X determines that it can safely stop before entering
the intersection.
NOTE: Model X is not designed to proceed through an intersection when the traffic
light is red or if the light turns yellow in situations when there is adequate distance
to safely stop before entering the intersection.
NOTE: You can take over driving at any time by manually braking to cancel
Autosteer or Traffic-Aware Cruise Control.

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Type of Traffic Light

Vehicle Intended Response

Model X slows down. To proceed, you must briefly press the accelerator pedal. If
you don’t, Model X stops at the red stop line displayed on the instrument cluster.
NOTE: To prevent Model X from stopping, and to minimize how much it slows
down as it approaches, you can confirm that you want to proceed by briefly
pressing the accelerator pedal at any time after the instrument cluster displays the
red stop line. Model X resumes your set cruising speed immediately after you
confirm (taking into consideration the speed of a vehicle in front of you).
WARNING: Approach attentively and be prepared to press the brake pedal to
slow down or stop.

Model X slows down and comes to a complete stop at the red stop line displayed
on the instrument cluster. When you want to proceed through the intersection (for
example, traffic laws and conditions indicate it is safe and legal to proceed), you
must briefly press the accelerator pedal.

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Stop Signs and Road Markings

When driving with Autosteer or Traffic-Aware Cruise Control engaged, and Traffic Light and Stop Sign Control
enabled, Model X is designed to respond as follows when approaching intersections controlled by stop signs, stop
lines, or road markings:
Type of Intersection

Vehicle Intended Response
Model X assumes the right of way and continues straight without slowing down or
stopping.

No Traffic Control

Arm of T-junction
If Model X detects a T-junction based on the map data, Model X slows down and
comes to a complete stop at the red stop line displayed on the instrument cluster.
When you want to proceed, you must take over steering and acceleration.
WARNING: Model X may not stop at a T-junction that does not have a stop
sign or stop line, or if the T-junction is not included in the map data. Drive
attentively and be prepared to stop (when necessary and/or appropriate).

End of T-junction
Model X slows down and comes to a complete stop at the red stop line displayed on
the instrument cluster. When you want to proceed through the intersection, you
must briefly press the accelerator pedal.
NOTE: If you confirm that you want to proceed through an intersection controlled by
a stop sign by briefly pressing the accelerator pedal before Model X has stopped,
your confirmation is ignored. Model X is not designed to proceed through a stop
sign without stopping.
NOTE: Even when using Autosteer, and even if you have engaged a turn signal, you
must turn the steering yoke (or steering wheel) yourself (which cancels Autosteer)
to complete a turn at an intersection.
Stop Sign

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Type of Intersection

Vehicle Intended Response

Stop Sign and Road Marking

Road Marking
WARNING: Model X also slows down and stops at a roundabout. You must take over steering (which cancels
Autosteer) and briefly press the accelerator pedal to confirm that you want to continue through the
roundabout.
WARNING: At crosswalks, Model X may slow down and may stop, depending on whether the crosswalk is
controlled by a traffic light and whether the cameras detect pedestrians, bicyclists, etc. in the crosswalk. Pay
particular attention at crosswalks and be prepared to take over at any time. Failure to do so can result in injury
or death.
Limitations
Depending on many different circumstances and environmental conditions, Traffic Light and Stop Sign Control may
or may not stop at:
• Railroad crossings.
• Keep-out zones.
• Toll booths.
• Crosswalk systems.
• Yield signs or temporary traffic lights and stop signs (such as at construction areas).
• Miscellaneous traffic U-turn lights, bicycle and pedestrian crossing lights, lane availability lights, etc.
In addition, Traffic Light and Stop Sign Control is particularly unlikely to operate as intended, can disengage, or may
not operate, when one or more of the following conditions are present:
• Driving through consecutive light-controlled intersections that are very close to each other.
• Visibility is poor (heavy rain, snow, fog, etc.) or weather conditions are interfering with camera or sensor
operation.
• Bright light (such as direct sunlight) is interfering with the view of the camera(s).

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• A camera is obstructed, covered, damaged, or not properly calibrated.
• Driving on a hill or on a road that has sharp curves on which the cameras are unable to see upcoming traffic lights
or stop signs.
• A traffic light, stop sign, or road marking is obstructed (for example, a tree, a large vehicle, etc.).
• Model X is being driven very close to a vehicle in front of it, which is blocking the view of a camera.
WARNING: The limitations listed above are not an exhaustive list of reasons why Model X may not operate as
expected. Many unforeseen circumstances can adversely impact the accurate operation of Traffic Light and
Stop Sign Control. Using this feature does not reduce or eliminate the need to drive attentively and
responsibly. You must be prepared to take appropriate and immediate action at all times.

Full Self-Driving (Supervised)
When Full Self-Driving (Supervised) (also referred to as Autosteer on City Streets) is engaged, Model X attempts to
drive to your destination by following curves in the road, stopping at and negotiating intersections, making left and
right turns, navigating roundabouts, and entering/exiting highways.
Unlike Traffic-Aware Cruise Control, Autosteer, and Navigate on Autopilot, which are intended for use on multi-lane
roadways with clear lane markings, Full Self-Driving (Supervised) is meant to work in a variety of driving scenarios.
You can use Full Self-Driving (Supervised) on any type of roadway, including residential and city streets.
Always remember that Full Self-Driving (Supervised) does not make Model X autonomous and requires a fully
attentive driver who is ready to take immediate action at all times. While Full Self-Driving (Supervised) is engaged,
you must monitor your surroundings and other road users at all times.
Driver intervention may be required in certain situations, such as on narrow roads with oncoming cars, in
construction zones, or while going through complex intersections. For more examples of scenarios in which driver
intervention might be required, see Limitations and Warnings on page 182.
Full Self-Driving (Supervised) uses inputs from cameras mounted at the front, rear, left, and right of Model X to build
a model of the area surrounding Model X (see Cameras on page 22). The Full Self-Driving computer installed in
Model X is designed to use this input, rapidly process neural networks, and make decisions to safely guide you to
your destination.
NOTE: As Tesla’s Full Self-Driving (Supervised) capabilities evolve, Model X is upgraded through over-the-air
software updates. Download updates as soon as they become available.
Like other Autopilot features, Full Self-Driving (Supervised) requires a fully attentive driver and will display a series
of escalating warnings requiring driver response. You must keep your hands on the steering yoke (or steering wheel)
while Full Self-Driving (Supervised) is engaged. In addition, the cabin camera monitors driver attentiveness (see
Cabin Camera on page 23).
Use Full Self-Driving (Supervised) only if you will pay constant attention to the road and be prepared to act
immediately, especially around blind corners, crossing intersections, and in narrow driving situations. For more
information, see Limitations and Warnings on page 182.
CAUTION: As Full Self-Driving (Supervised) deployment expands, Tesla will gradually make it available to
eligible customers in select countries outside of the United States and Canada. Because every country contains
unique infrastructure, driving behaviors, and traffic patterns that Full Self-Driving (Supervised) must adapt to
over time, it is essential for drivers using Full Self-Driving (Supervised) in newly eligible countries to be extra
attentive and overly cautious. You must be ready to take over safely at any time.
WARNING: Full Self-Driving (Supervised) is a hands-on feature that requires you to pay attention to the road
at all times. Keep your hands on the steering yoke (or steering wheel) at all times, be mindful of road
conditions and surrounding traffic, pay attention to pedestrians and cyclists, and always be prepared to take
immediate action. Failure to follow these instructions could cause damage, serious injury or death. It is your
responsibility to familiarize yourself with the limitations of Full Self-Driving (Supervised) and the situations in
which it may not work as expected. For more information, see Limitations and Warnings on page 182.
Before Using Full Self-Driving (Supervised)
Before using Full Self-Driving (Supervised), you must:

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• Ensure that the cameras on Model X are unobstructed and calibrated (see Cameras on page 22). Full Self-Driving
(Supervised) depends on the ability of the cameras to detect traffic lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model X. Although Full Self-Driving (Supervised)
primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using the most
recent map data. To check which version of maps is currently downloaded, touch Controls > Software. You must
connect to a Wi-Fi network to receive updated maps (see Map Updates on page 224).
In addition, you must enable Full Self-Driving (Supervised) before you can use it. To enable Full Self-Driving
(Supervised), touch Controls > Autopilot > Full Self-Driving (Supervised) and then, after carefully reading and
understanding the popup window, touch Yes.
NOTE: When Full Self-Driving (Supervised) is enabled, the setting for Autopilot Activation is set to Single Click and
Traffic-Aware Cruise Control and Autosteer are unavailable.
Customize Full Self-Driving (Supervised) settings by touching Controls > Autopilot.
• Full Self-Driving (Supervised): If desired, change the default setting of Average to Chill or Assertive. Chill
provides a more relaxed driving style and Assertive drives with more urgency.
• Minimal Lane Changes for the Current Drive: When selected, Full Self-Driving (Supervised) makes fewer lane
changes on the current drive. Model X will still make lane changes as necessary to follow the navigation route.
• Automatic Set Speed Offset: When enabled, Model X drives at the speed that Autopilot determines to be the
most natural. This considers factors like road type, traffic flow, environmental conditions, the detected speed limit,
and the selected Full Self-Driving (Supervised) profile setting.
WARNING: You are responsible for the speed of the vehicle at all times, whether Autopilot is engaged or
not.
To Use Full Self-Driving (Supervised)
Once Full Self-Driving (Supervised) is enabled, activate it the same way you would Autosteer (see Autosteer on
page 153).
1. Enter a destination. If you do not choose a destination, Model X chooses the most probable driving path or
suggests a destination based on your driving.
2. When the touchscreen displays the gray steering wheel icon, press the right scroll wheel.
You can engage Full Self-Driving (Supervised) at any speed less than 85 mph (150 km/h), including when Model X is
at a standstill.
The instrument cluster displays the maximum speed in blue. When you engage Full Self-Driving (Supervised), the set
cruising speed defaults to the speed limit, plus any offset you’ve specified. If Autopilot is unable to determine the
speed limit, the cruising speed is your current speed, in addition to any specified offset.
To indicate that Full Self-Driving (Supervised) is available but not engaged, the top corner of the
touchscreen displays a gray steering yoke (or steering wheel) icon next to the driving gear.

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

When Full Self-Driving (Supervised) is engaged, the touchscreen displays a visualization of the environment
surrounding Model X, including the roadway and detected objects such as vehicles, pedestrians, curbs, bicyclists,
and more. Objects shown in blue represent priorities that Full Self-Driving (Supervised) is actively controlling for at a
given time.

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NOTE: The Full Self-Driving (Supervised) visualization may not be a holistic representation of the objects, road
markings, road signals, and other variables that Full Self-Driving (Supervised) takes into account as it attempts to
drive to your destination. While Full Self-Driving (Supervised) is engaged, it uses data from the cameras on Model X
that may not be represented in the visualization (see Cameras on page 22).
NOTE: Full Self-Driving (Supervised) uses Tesla’s vision-based system and therefore radar (if equipped) is disabled.

The visualization will also inform you of the system’s intended action by displaying a message on the instrument
cluster, such as when the vehicle is slowly creeping for visibility to take a turn at an intersection.
You can widen the visualization area to fullscreen. Enable the setting by touching Controls > Autopilot > Full SelfDriving (Supervised) > Expanded Full Self-Driving Visualization.
NOTE: You can override Full Self-Driving (Supervised) at any time if you are uncomfortable or uncertain about the
system’s intended course of action. You are driving Model X at all times.
Making Turns, Changing Lanes, and Negotiating Intersections
Full Self-Driving (Supervised) changes lanes, makes left and right turns, follows on- and off-ramps, and takes forks in
the road as necessary to reach the destination. When Full Self-Driving (Supervised) makes any such maneuver, the
instrument cluster displays a message to inform you of the action being taken.
Like Autosteer and Traffic-Aware Cruise Control, Full Self-Driving (Supervised) maintains your speed and following
distance from the vehicle ahead of Model X, if there is one. Full Self-Driving (Supervised) also slows down and stops
at traffic lights and stop signs as necessary, and reacts to pedestrians, cyclists, and other vehicles on the road.
WARNING: NEVER make assumptions and predict when and where Full Self-Driving (Supervised) will stop or
continue through an intersection or road marking. From a driver's perspective, the behavior of Full Self-Driving
(Supervised) may appear inconsistent. Always pay attention to the roadway and be prepared to take
immediate action. It is the driver's responsibility to determine whether to stop or continue through an
intersection. Never depend on Full Self-Driving (Supervised) to determine when it is safe and/or appropriate to
stop or continue through an intersection.
For example, if you are driving on a residential street and another vehicle backs out of a driveway ahead of Model X,
Full Self-Driving (Supervised) slows down or stops as appropriate. If the other vehicle stops backing out while
partially blocking the driving lane, Full Self-Driving (Supervised) slows down and maneuvers around the other
vehicle if the width of the lane allows it.
To tell Full Self-Driving (Supervised) to change lanes while on a multi-lane roadway, engage the right or left turn
signal. On city or residential streets, engaging the right or left turn signal tells Full Self-Driving (Supervised) to make
a right or left turn, respectively.
Full Self-Driving (Supervised) notifies you at the top of the visualization as it takes actions. For example, if Full SelfDriving (Supervised) is moving Model X into a faster lane, it displays the message Changing lanes into faster lane /
Use turn signal to cancel.
Or, if Full Self-Driving (Supervised) is changing lanes to follow the navigation route, Changing lanes to follow route /
Use turn signal to cancel.
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Unlike Navigate on Autopilot, Full Self-Driving (Supervised) does not require confirmation before a lane change. To
cancel a lane change or turn, cancel the turn signal or intervene with the steering yoke (or steering wheel) or other
vehicle controls.
To be notified by a Chime, Vibration, or Both of upcoming lane changes (in addition to the notification on the
instrument cluster), touch Controls > Autopilot > Full Self-Driving (Supervised) and then select a Lane Change
Notification.
Full Self-Driving (Supervised) also notifies you when it is slowing down for a stop sign or a traffic light. When the
traffic in front of you is slowing down, Full Self-Driving (Supervised) shows blue arrows in the driving lane and slows
down to maintain an appropriate following distance from the vehicle ahead of you.
WARNING: In rare cases, Full Self-Driving (Supervised) may not appropriately slow down, come to a stop, or
resume control for a stop sign or traffic light. You may assist the system by lightly applying the accelerator, or
can override Full Self-Driving (Supervised) at any time.
Once you’ve arrived at your destination, Full Self-Driving (Supervised) stops Model X and displays a message
indicating that navigation is complete.
Changing the Set Speed
While Full Self-Driving (Supervised) is active, roll the right scroll wheel up to increase, or down to decrease, the set
speed.
NOTE: In some cases, your speed is limited by the speed limit or the type of roadway. If this is the case, Full SelfDriving (Supervised) displays a message at the top of the visualization.
Driver Attentiveness
Like other Autopilot features, Full Self-Driving (Supervised) requires driver attentiveness. Your hands must be on the
steering wheel at all times while Full Self-Driving (Supervised) is engaged, and you must monitor your
surroundings, the road, and other road users.
WARNING: The use of devices designed to circumvent driver attentiveness is a violation of the terms of use for
Full Self-Driving (Supervised) and may result in the feature being permanently disabled on your vehicle and a
ban on future use of the feature.
Full Self-Driving (Supervised) displays a message reminding the driver to apply slight force to the steering wheel. If
Model X does not detect slight turning force on the steering wheel, the instrument cluster flashes and eventually
chimes repeatedly. Do not use handheld devices while using Full Self-Driving (Supervised). If the cabin camera
detects a handheld device while Full Self-Driving (Supervised) is engaged, the instrument cluster displays a message
reminding you to keep your hands on the wheel.
Similarly, the cabin camera monitors your continued attentiveness when using Full Self-Driving (Supervised). This
system cannot be disabled. The instrument cluster displays a message reminding you to pay attention if you
repeatedly look away from the road, obstruct the camera, or prevent the system from identifying your gaze.
If you repeatedly ignore prompts to apply slight force to the steering wheel or to pay attention, Full Self-Driving
(Supervised) disables for the rest of the drive and displays the following message requesting you to drive manually.
If you don't resume manual steering, Full Self-Driving (Supervised) sounds a continuous chime, turns on the warning
flashers, and slows the vehicle to a complete stop.
Full Self-Driving (Supervised) Suspension
Use of Full Self-Driving (Supervised) will be suspended if improper usage is detected.
When you or another driver of your vehicle receives five forced Autopilot disengagements, use of Full Self-Driving
(Supervised) is suspended for a week. A forced disengagement is when the Autopilot system disengages for the
remainder of a trip after the driver receives several audio and visual warnings for inattentiveness.
You can see how many disengagements are remaining before Full Self-Driving (Supervised) access is suspended by
touching Controls > Autopilot.
NOTE: If your access to Full Self-Driving (Supervised) is suspended, your access to Autosteer is suspended as well.
You can still use Traffic-Aware Cruise Control, and all active safety features are still enabled.

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There may be occasions where driver intervention is required and you must take over immediately to maintain safe
driving. Driver-initiated disengagements do not count as improper usage and are expected from the driver.
Canceling Full Self-Driving (Supervised)
To disengage Full Self-Driving (Supervised), do any of the following:
• Press the brake pedal.
• Press the right scroll wheel on the steering yoke (or steering wheel).
• Take over and steer manually.
When you disengage Full Self-Driving (Supervised) by steering manually, Traffic-Aware Cruise Control remains active
(see Canceling Autopilot on page 157).
In addition, Full Self-Driving (Supervised) will disengage if any of the following occurs:
• You shift out of Drive.
• A door or trunk is opened.
• There is an Automatic Emergency Braking event (see Automatic Emergency Braking on page 194).
• The driver's seatbelt is released, and/or the driver gets out of their seat.
• You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the
instrument cluster.
• Full Self-Driving (Supervised) becomes unavailable. This can happen for a number of reasons (for example, if a
camera becomes obscured). If Full Self-Driving (Supervised) disengages, an alert will appear on the instrument
cluster to notify you and a chime will sound. If this happens, take control of steering immediately.
When driver intervention is required, it is best to safely disengage as soon as possible. It is recommended to practice
disengaging from Full Self-Driving (Supervised) in safe environment without other road users so you may become