Feature

Available When
NOTE: You can activate Full Self-Driving (Supervised) at lower speeds, including when Model
Y is at a standstill, whether or not there is a vehicle detected in front of Model Y.
• 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 High Beam Headlights on page 117) 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 155).
• 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 155).
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 157).
• 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 158).
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: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot
features (see Cleaning a Camera on page 265). 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. For more information on specific alerts, see Troubleshooting Alerts on page 314.
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 186.
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 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.

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NOTE: Autopilot 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.
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 Autopilot Activation is set to Single Pull, pulling the drive stalk down once also activates Autosteer (which
includes Traffic-Aware Cruise Control). Touch Controls > Autopilot > Autopilot 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 186.
Autosteer
To enable Autosteer:

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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 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 initiate Autosteer, move the drive stalk fully down twice in quick succession.
NOTE: If the setting for Autopilot Activation is set to Single Pull, pulling the drive stalk down once engages
Autosteer (see Autopilot Settings on page 154).

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.
To indicate that Autosteer is now active, the touchscreen 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 touchscreen.

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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: Steering is limited when Autosteer is enabled. Therefore, Model Y 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 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 186.
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.
• 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.
NOTE: Auto Lane Change cancels if the lane change cannot be completed in 5 seconds.

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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 165).
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
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.
• Require Lane Change Confirmation: By default, Navigate on Autopilot requires your confirmation before
proceeding with a lane change by engaging 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:

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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 after driver confirmation.
• 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.

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When the touchscreen 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 224). 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 186.
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 197).
• The driver's seatbelt is released, and/or the driver gets out of their seat.

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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:
• You exceed 85 mph (140 km/h).
• You take over steering manually.You apply rotational force to the steering wheel (even a slight amount).
WARNING: If Autopilot Activation is set to Double Pull and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheel, Traffic-Aware Cruise Control remains active. If
Autopilot Activation is set to Single Pull and Autosteer cancels because you started steering
manuallyapplied rotational force to the 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
touchscreen (see Driver Attentiveness on page 166).
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 124).
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.

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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 162), 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.
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 (Supervised) on page 173).
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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 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 160). In this case,
Autosteer remains active.

Overtake Acceleration
Engage the turn signal momentarily to accelerate Model Y towards the vehicle ahead of it. By momentarily holding
the turn signal stalk up or down, you can quickly accelerate up to your set speed without having to press the
accelerator pedal as long as:
• Traffic-Aware Cruise Control is operating and detects a vehicle in front of you.
• No obstacles or vehicles are detected in the target lane.
• Model Y 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 Y will change lanes automatically (see Auto
Lane Change on page 157).
Model Y stops accelerating when you reach your set cruising speed, if changing lanes takes too long, or if Model Y
gets too close the vehicle ahead. Model Y also stops accelerating if you disengage the turn signal.

Stop Light and Stop Sign Warning
While Autopilot is in use, Model Y displays a warning on the touchscreen 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 Y 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 Y at traffic lights and stop signs (see Traffic Light and Stop Sign Control on page
167).
Emergency Vehicles
Model Y 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 touchscreen 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 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 Y may not detect
lights from emergency vehicles. Keep your eyes on your driving path and always be prepared to take immediate
action.

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Driver Attentiveness
Autosteer determines how best to steer Model Y. 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 touchscreen and the following message displays:
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.
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 touchscreen 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 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 Y 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 Y, Autosteer sounds a warning chime and displays the
following message on the touchscreen.
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 Y 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 Y approaches an intersection, the
touchscreen displays a notification indicating the intention to slow down. You must confirm that you want to
continue or Model Y stops at the red line displayed on the touchscreen'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 265) and calibrated (see
Drive to Calibrate Cameras on page 25). 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 Y. 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 230).
• 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 touchscreen 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 Y slows down and displays a red line to indicate where Model Y will stop. To
continue through the intersection—even if the traffic light is green —you must press down on the drive stalk or
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 Y continues through the intersection and resumes your set
cruising speed.
NOTE: If Model Y is approaching a green light and detects that a vehicle in front of you is continuing through the
intersection, Model Y 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 wheel.
NOTE: If, after you press down on the drive stalk or 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 Y may determine that it is not appropriate to proceed.
Therefore, Model Y 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 Y through an intersection unless Full
Self-Driving (Supervised) is engaged. When in a turning lane, Model Y stops at the red stop line. To proceed,
press down on the drive stalk or briefly press the accelerator pedal—Model Y continues straight through the
intersection (even when in a turning lane), so you MUST manually steer Model Y 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 touchscreen on Model Y is displaying an upcoming traffic light in "bold" format. Model Y does not
acknowledge traffic lights that the touchscreen 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
touchscreen displays it as faded and Model Y does not slow down and stop for it.
WARNING: If the touchscreen is not displaying a red stop line at an upcoming intersection, Model Y 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 Y to slow down unexpectedly. Be prepared to take immediate action at all times.
WARNING: You must press down on the drive stalk or 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 Y stops at the red stop line displayed on the touchscreen, 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 Y 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 Y 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 Y 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 Y slows down.
If you are following a car in front of you that continues through the intersection,
the touchscreen displays a green stop line and provided your hands are detected
on the steering wheel, Model Y also continues. If a car is not in front of you, the
touchscreen displays a red stop line and you must confirm that you want to
continue through the intersection by press down on the drive stalk or briefly
pressing the accelerator pedal. If you don’t confirm, Model Y stops at the red stop
line.
NOTE: Model Y resumes the set cruising speed when it continues through the
intersection, taking into consideration the speed of a vehicle in front of you.

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

Model Y slows down and comes to a complete stop at the red stop line displayed
on the touchscreen. When you want to proceed through the intersection (for
example, the light turns green again), you must press down on the drive stalk or
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 Y may stop instead of
continuing, especially if Model Y determines that it can safely stop before entering
the intersection.
NOTE: Model Y 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