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

Model Y slows down. To proceed, you must press down on the drive stalk or briefly
press the accelerator pedal. If you don’t, Model Y stops at the red stop line
displayed on the touchscreen.
NOTE: To prevent Model Y from stopping, and to minimize how much it slows
down as it approaches, you can confirm that you want to proceed by press down
on the drive stalk or briefly pressing the accelerator pedal at any time after the
touchscreen displays the red stop line. Model Y 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 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, traffic laws and conditions indicate it is safe and legal to proceed), you
must press down on the drive stalk or 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 Y 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 Y assumes the right of way and continues straight without slowing down or
stopping.

No Traffic Control

Arm of T-junction
If Model Y detects a T-junction based on the map data, Model Y slows down and
comes to a complete stop at the red stop line displayed on the touchscreen. When
you want to proceed, you must take over steering and acceleration.
WARNING: Model Y 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 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, you must
press down on the drive stalk or briefly press the accelerator pedal.
NOTE: If you confirm that you want to proceed through an intersection controlled by
a stop sign by press down on the drive stalk or briefly pressing the accelerator pedal
before Model Y has stopped, your confirmation is ignored. Model Y 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 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 Y also slows down and stops at a roundabout. You must take over steering (which cancels
Autosteer) and press down on the drive stalk or briefly press the accelerator pedal to confirm that you want to
continue through the roundabout.
WARNING: At crosswalks, Model Y 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 Y 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 Y 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 (Beta)
When Full Self-Driving (Beta) (also referred to as Autosteer on City Streets) is engaged, Model Y 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 (Beta) is meant to work in a variety of driving scenarios. You can
use Full Self-Driving (Beta) on any type of roadway, including residential and city streets.
Always remember that Full Self-Driving (Beta) does not make Model Y autonomous and requires a fully attentive
driver who is ready to take immediate action at all times. While Full Self-Driving (Beta) 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 187.
Full Self-Driving (Beta) uses inputs from cameras mounted at the front, rear, left, and right of Model Y to build a
model of the area surrounding Model Y (see Cameras on page 24). The Full Self-Driving computer installed in Model
Y is designed to use this input, rapidly process neural networks, and make decisions to safely guide you to your
destination.
NOTE: Full Self-Driving (Beta) is a beta feature. As Tesla’s Full Self-Driving (Beta) capabilities evolve, Model Y is
upgraded through over-the-air software updates. Download updates as soon as they become available.
Like other Autopilot features, Full Self-Driving (Beta) requires a fully attentive driver and will display a series of
escalating warnings requiring driver response. You must keep your hands on the steering wheel while Full SelfDriving (Beta) is engaged. In addition, the cabin camera monitors driver attentiveness (see Cabin Camera on page
25).
Use Full Self-Driving (Beta) in limited Beta 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 187.
CAUTION: As Full Self-Driving (Beta) 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 (Beta) must adapt to over time, it is
essential for drivers using Full Self-Driving (Beta) 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 (Beta) is a hands-on feature that requires you to pay attention to the road at all
times. Keep your hands on the 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 (Beta) and the situations in which it may not work as expected.
For more information, see Limitations and Warnings on page 187.
Before Using Full Self-Driving (Beta)
Before using Full Self-Driving (Beta), you must:

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• Ensure that forward-facing cameras are unobstructed and calibrated (see Cameras on page 24). Full Self-Driving
(Beta) 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 Full Self-Driving (Beta)
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 231).
In addition, you must enable Full Self-Driving (Beta) before you can use it. To enable Full Self-Driving (Beta), touch
Controls > Autopilot > Autopilot Features > Full Self-Driving (Beta) and then, after carefully reading and
understanding the popup window, touch Yes.
NOTE: When Full Self-Driving (Beta) is enabled, Autosteer and Navigate on Autopilot are automatically disabled. In
situations where you would use Autosteer and Navigate on Autopilot, such as on a controlled-access, multi-lane
highway, activate Full Self-Driving (Beta) the same way you would Autosteer.
Customize Full Self-Driving (Beta) settings by touching Controls > Autopilot.
• Full Self-Driving (Beta) Profile: 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 (Beta) makes fewer lane changes
on the current drive. Model Y will still make lane changes as necessary to follow the navigation route.
NOTE: While Full Self-Driving (Beta) is selected, tilting the right steering wheel button to the right or left also
allows you to change the Full Self-Driving (Beta) profile and enable or disable Minimal Lane Changes.
• Automatic Set Speed Offset: When enabled, Model Y 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 (Beta) profile setting.
To Use Full Self-Driving (Beta)
Once Full Self-Driving (Beta) is enabled, activate it the same way you would Autosteer (see Autosteer on page 156).
1. Enter a destination. If you do not choose a destination, Model Y chooses the most probable driving path or
suggests a destination based on your driving.
2. When the touchscreen displays the gray steering wheel icon, move the drive stalk fully down twice in quick
succession.
NOTE: To choose how you activate Full Self-Driving (Beta) go to Controls > Autopilot > Autopilot Activation and
choose Single Pull or Double Pull. If the setting for Autopilot Activation is set to Single Pull, Full Self-Driving
(Beta) engages when you pull the drive stalk fully down once.

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You can engage Full Self-Driving (Beta) at any speed less than 85 mph (150 km/h), including when Model Y is at a
standstill.
The touchscreen displays the maximum speed in blue. When you engage Full Self-Driving (Beta), 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 (Beta) is available but not engaged, the top corner of the touchscreen
displays a gray steering wheel icon next to the driving gear.

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

When Full Self-Driving (Beta) is engaged, the touchscreen displays a visualization of the environment surrounding
Model Y, including the roadway and detected objects such as vehicles, pedestrians, curbs, bicyclists, and more.
Objects shown in blue represent priorities that Full Self-Driving (Beta) is actively controlling for at a given time.
NOTE: The Full Self-Driving (Beta) visualization may not be a holistic representation of the objects, road markings,
road signals, and other variables that Full Self-Driving (Beta) takes into account as it attempts to drive to your
destination. While Full Self-Driving (Beta) is engaged, it uses data from the cameras on Model Y that may not be
represented in the visualization (see Cameras on page 24).
NOTE: Full Self-Driving (Beta) uses Tesla’s vision-based system and therefore radar (if equipped) is disabled.

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The visualization will also inform you of the system’s intended action by displaying a message on the touchscreen,
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 (Beta) > Expanded Full Self-Driving Visualization. Then on the touchscreen, swipe the visualization window
handle to fill the entire screen.
NOTE: You can override Full-Self Driving (Beta) at any time if you are uncomfortable or uncertain about the system’s
intended course of action. You are driving Model Y at all times.
Making Turns, Changing Lanes, and Negotiating Intersections
Full Self-Driving (Beta) 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 (Beta) makes any such maneuver, the touchscreen
displays a message to inform you of the action being taken.
Like Autosteer and Traffic-Aware Cruise Control, Full Self-Driving (Beta) maintains your speed and following
distance from the vehicle ahead of Model Y, if there is one. Full Self-Driving (Beta) 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 (Beta) will stop or
continue through an intersection or road marking. From a driver's perspective, the behavior of Full Self-Driving
(Beta) 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 (Beta) 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 Y,
Full Self-Driving (Beta) slows down or stops as appropriate. If the other vehicle stops backing out while partially
blocking the driving lane, Full Self-Driving (Beta) slows down and maneuvers around the other vehicle if the width of
the lane allows it.
To tell Full Self-Driving (Beta) 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 (Beta) to make a right or left
turn, respectively.
Full Self-Driving (Beta) notifies you at the top of the visualization as it takes actions. For example, if Full Self-Driving
(Beta) is moving Model Y into a faster lane, it displays the message Changing lanes into faster lane / Use turn signal
to cancel.
Or, if Full Self-Driving (Beta) is changing lanes to follow the navigation route, Changing lanes to follow route / Use
turn signal to cancel.
Unlike Navigate on Autopilot, Full Self-Driving (Beta) does not require confirmation before a lane change. To cancel
a lane change or turn, cancel the turn signal or intervene with the steering wheel or other vehicle controls.

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To be notified by a Chime, Vibration, or Both of upcoming lane changes (in addition to the notification on the
touchscreen), touch Controls > Autopilot > Full Self-Driving (Beta) and then select a Lane Change Notification.
Full Self-Driving (Beta) 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 (Beta) 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 (Beta) 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 (Beta) at any time.
Once you’ve arrived at your destination, Full Self-Driving (Beta) stops Model Y and displays a message indicating
that navigation is complete.
Changing the Set Speed
While Full Self-Driving (Beta) 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 (Beta) displays a message at the top of the visualization.\
Driver Attentiveness
Like other Autopilot features, Full Self-Driving (Beta) requires driver attentiveness. Your hands must be on the
steering wheel at all times while Full Self-Driving (Beta) 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 (Beta) and may result in the feature being permanently disabled on your vehicle and a ban on
future use of the feature.
Full Self-Driving (Beta) displays a message reminding the driver to apply slight force to the steering wheel. If Model
Y does not detect slight turning force on the steering wheel, the touchscreen flashes and eventually chimes
repeatedly. Do not use handheld devices while using Full Self-Driving (Beta). If the cabin camera detects a handheld
device while Full Self-Driving (Beta) is engaged, the touchscreen 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 (Beta). This system
cannot be disabled. The touchscreen 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
(Beta) 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 (Beta) sounds a continuous chime, turns on the warning flashers, and
slows the vehicle to a complete stop.
If Full Self-Driving (Beta) repeatedly disengages due to driver attentiveness, your access to Full Self-Driving (Beta)
may be suspended.
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 (Beta)
To disengage Full Self-Driving (Beta), do any of the following:
• Press the brake pedal.
• 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.
• Take over and steer manually.
When you disengage Full Self-Driving (Beta) by steering manually, Traffic-Aware Cruise Control remains active (see
Canceling Autopilot on page 161).
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In addition, Full Self-Driving (Beta) 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 200).
• 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
touchscreen.
• Full Self-Driving (Beta) becomes unavailable. This can happen for a number of reasons (for example, if a camera
becomes obscured). If Full Self-Driving (Beta) disengages, an alert will appear on the touchscreen 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 (Beta) in safe environment without other road users so you may become familiar
with the process.

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Autopark
This feature may be temporarily limited or inactive until it is enabled with a future software update for vehicles
manufactured as of approximately October 2022.This feature may be temporarily limited or inactive until it is
enabled with a future software update for vehicles manufactured as of approximately late May 2023.
Autopark uses data to simplify parking on public roads by maneuvering Model Y into parallel and perpendicular
parking spaces.
CAUTION: Ensure all cameras and sensors (if equipped) are clean. Dirty cameras and sensors, as well as
environmental conditions such as rain and faded lane markings, can affect Autopilot performance.
WARNING: Autopark's performance depends on the ability of the cameras and sensors (if equipped) to
determine the vehicle's proximity to curbs, objects, and other vehicles.
WARNING: Do not use Autopark if anything, such as a ball hitch, bike rack, or trailer, is attached to the tow
hitch. Autopark may not stop for hitches when parking between or in front of other vehicles.
Parameters
Autopark detects potential parking spaces based on the following parameters:
Perpendicular Parking
• Your driving speed must be below 8 mph (13 km/h). If driving too fast, Autopark may not be able to accurately
detect your desired parking space.
• The parking space must be at least 7.2 feet (2.2 meters) wide.
• The parking space must have at least three visible lines for the vehicle to park into, such as parking lines, road
markings, or distinct curbs. Autopark may not work in a garage, for example, without three visible parking lines.
• Autopark may not work with textured road surfaces such as cobblestone or brick.
Parallel Parking
• Your driving speed must be below 13 mph (21 km/h). If driving too fast, Autopark may not be able to accurately
detect your desired parking space.
• There must be a vehicle in front of the space you want to park in.
• A distinct curb or edge must be visible. Autopark may not correctly identify the parking space if the curb is not
distinct, such as grass or dirt.
NOTE: Autopark does not operate on angled parking spaces.
To Use Autopark
When driving, follow these steps to allow Autopark to maneuver Model Y into a parking space:
1. While driving slowly, monitor the touchscreen to see potential parking spaces detected by Autopilot. When
Model Y is positioned such that it can reverse into one of the detected locations, the touchscreen displays a
parking icon.

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NOTE: The parking icon appears only if the vehicle's position and/or the circumstances of the surrounding area
are such that Autopark can determine an appropriate driving path. If Autopark cannot determine an appropriate
path (for example, when driving on a narrow street where moving into the parking space causes the front of the
vehicle to extend into the adjacent lane), you can either reposition the vehicle, find a different parking space, or
park manually.
2. Choose a spot, check to determine if it is appropriate and safe, then pull forward and stop approximately one car
length ahead of the parking space (as you normally would when parallel parking or when backing into a
perpendicular parking space).
3. Release the steering wheel, shift Model Y into Reverse, then touch Start Autopark on the touchscreen.
4. Autopark displays a message when parking is complete.
If you press the brake pedal when Autopark is actively parking Model Y, the parking process pauses until you touch
Resume on the touchscreen.
WARNING: Never depend on Autopark to find a parking space that is legal, suitable, and safe. Autopark may
not always detect objects in the parking space. Always perform visual checks to confirm that a parking space
is appropriate and safe.
WARNING: When Autopark is actively steering Model Y:
• Do not interfere with the movement of the steering wheel. Doing so cancels Autopark.
• Continually check your surroundings. Be prepared to apply the brakes to avoid vehicles, pedestrians, or
objects.
• Monitor the touchscreen to ensure that you are aware of the instructions that Autopark is providing.

To Pause Parking
To pause Autopark, press the brake pedal once. Model Y stops and remains stopped until you touch Resume on the
touchscreen.
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To Cancel Parking
Autopark cancels the parking sequence when you manually move the steering wheel, shift, or touch Cancel on the
touchscreen. Autopark also cancels parking when:
• The parking sequence exceeds seven moves.
• Model Y detects that the driver is exiting the vehicle.
• A door is opened.
• You press the accelerator pedal.
• You press the brake pedal while Autopark is paused.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 198).

Summon
This feature may be temporarily limited or inactive until it is enabled with a future software update for vehicles
manufactured as of approximately October 2022.This feature may be temporarily limited or inactive until it is
enabled with a future software update for vehicles manufactured as of approximately late May 2023.
Summon allows you to automatically park and retrieve Model Y while you are standing outside the vehicle. Summon
moves Model Y forward and reverse up to 39 ft. (12 meters) in, or out of, a parking space.
To move Model Y a longer distance while steering around objects, you can use Smart Summon and your mobile
phone. Smart Summon allows your vehicle to find you (or you can send your vehicle to a chosen location). See
Smart Summon on page 185.
Summon requires that Model Y can detect a valid key nearby.
WARNING: Summon is designed and intended for use only on parking lots and driveways on private property
where the surrounding area is familiar and predictable.
WARNING: Summon is a BETA feature. You must continually monitor the vehicle and its surroundings and stay
prepared to take immediate action at any time. It is the driver's responsibility to use Summon safely,
responsibly, and as intended. For more information about the limitations of Summon and conditions that may
interfere with its use, see Warnings and Limitations on page 187.
Before Using Summon
Before operating Summon, use the touchscreen to enable it and customize how you want it to work. Touch Controls
> Autopilot > Customize Summon and adjust the following settings to suit your preferences:
• Bumper Clearance: Set the distance that you want Summon to stop from a detected object (for example, you
may want Summon to stop within just a few inches of a garage wall). Note that this distance applies only to
objects that Summon detects directly in front of Model Y when moving forward, or directly behind Model Y when
reversing.
• Summon Distance: Set a maximum distance that Model Y can travel when entering or exiting a parking space.
• Side Clearance: Choose an option to specify how much side clearance you want to allow. Tight allows Model Y to
enter and exit very narrow parking spaces.
WARNING: Parking in a narrow space limits the ability of the cameras and sensors (if equipped) to
accurately detect the location of obstacles, increasing the risk of damage to Model Y and/or surrounding
objects.
• Require Continuous Press: By default, Summon requires that you press and hold a button on the mobile app to
move Model Y during the parking process. When Require Continuous Press is set to No, you can press and
release the button—you don't need to hold it down to keep the vehicle moving. Also, when Require Continuous
Press is set to No, you can operate Summon using the key fob accessory instead of the mobile app (see
Operating Summon with the Key Fob on page 184) and you can start a parking sequence from inside the vehicle
(see Starting Summon Before Exiting the Vehicle on page 184).

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• Use Auto HomeLink (if equipped): Set to ON if you want to activate HomeLink to open/close a programmed
HomeLink device (such as a gate or a garage door) during the parking process when using Summon. If enabled,
the device automatically opens and closes when Model Y enters or exits during a Summon session. In a Smart
Summon session, the device automatically opens when, at the beginning of a session, Smart Summon detects
that Model Y is parked in a garage.
WARNING: Always ensure that Model Y is fully in or out of a garage before HomeLink lowers the garage
door. Summon and Smart Summon cannot detect where an overhead door will lower.
NOTE: When enabled, the HomeLink device automatically opens and closes when using Summon, and
automatically opens as needed when using Smart Summon. To automate HomeLink in other situations (such as
normal driving), you must adjust the HomeLink device's main settings by touching the HomeLink icon at the top
of the Controls screen (see Smart Garage on page 104).
The above settings, with the exception of HomeLink, apply only to Summon—not Smart Summon (see Before Using
Smart Summon on page 185). You cannot customize Smart Summon's bumper clearance, distance, and side
clearance. And when using Smart Summon, you must always hold down the button on the mobile app to keep Model
Y moving. Also, Smart Summon operates with the mobile app only—not the key fob. All settings are retained until
you manually change them.
Using Summon to Park and Retrieve your Vehicle
Follow these steps to use Summon to park your Model Y:
• Align Model Y within 39 ft. (12 meters) of the parking space so Model Y can follow a straight path into or out of
the space in either Drive or Reverse.
• From outside the vehicle, initiate the parking maneuver by touching Summon on the mobile app, then holding
down the Forward or Reverse button.
NOTE: If the Require Continuous Press setting is No, you do not need to hold down the button, just press and
release.
NOTE: You can also initiate the parking maneuver from inside the vehicle (see Starting Summon Before Exiting
the Vehicle on page 184).
Summon shifts Model Y into Drive or Reverse (based on the direction you specified) and drives into or out of the
parking space. When parking is complete, or if an obstacle is detected, Summon shifts Model Y into Park. Summon
shifts Model Y into Park when:
• Model Y detects an obstacle in its driving path (within the Bumper Clearance setting that you specified).
• Summon has moved Model Y the maximum distance of 39 ft. (12 meters).
• You release the Forward or Reverse button (when Require Continuous Press is turned on).
• You press any button to manually stop Summon.
If you used Summon to park Model Y, you can then use Summon to return Model Y back to its original position
(provided Model Y has remained in Park), or to the maximum Summon Distance that you have specified (whichever
comes first). Simply specify the opposite direction on the mobile app and Summon moves Model Y along the
original path, provided no obstructions have been introduced. If an obstacle is detected, Model Y attempts to avoid
the obstacle while staying very close to its original path (Summon does not steer around obstacles).
NOTE: To use Summon to move Model Y multiple times in the same direction (not to exceed the maximum of 39 ft.
(12 meters), cancel Summon and then restart the parking process using the same direction.
NOTE: Although Summon can move Model Y a short distance laterally to avoid an obstacle, it does not attempt to
steer around an obstacle to return Model Y to its original driving path. Only Smart Summon can steer Model Y
around objects.
NOTE: Summon requires that Model Y can detect an authenticated phone nearby (Canada only).
WARNING: Model Y cannot detect obstacles that are located lower than the bumper, are very narrow, or are
hanging from a ceiling (for example, bicycles). In addition, many unforeseen circumstances can impair
Summon's ability to move in or out of a parking space and, as a result, Summon may not move Model Y
appropriately. Therefore, you must continually monitor the vehicle's movement and its surroundings and
remain prepared to stop Model Y at any time.
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Operating Summon with the Key Fob

NOTE: Summon may not operate if the battery is low on the key fob accessory.
Follow these steps to park Model Y from outside the vehicle using the key fob accessory:
1. On the touchscreen, ensure that Require Continuous Press is disabled (touch Controls > Autopilot > Customize
Summon > Require Continuous Press).
2. With Model Y in Park, stand within 10 ft. (three meters) and press and hold the top center button on the key fob
accessory (Lock/Unlock All button) until the hazard lights blink continuously.
NOTE: The hazard lights flash once as Model Y locks, then within five seconds, Model Y powers on and the hazard
lights flash continuously. Do not proceed to the next step until the hazard lights are flashing. If, after five seconds,
the hazard lights are not flashing, release the button on the key fob accessory, move closer to Model Y, and try
again. If Summon receives no further input within ten seconds, Summon cancels.
3. Press the Front Trunk button on the key fob accessory to move Model Y forward into the parking space, or press
the Rear Trunk button to reverse Model Y into the parking space.
Starting Summon Before Exiting the Vehicle

To start a Summon parking sequence before exiting Model Y:
1. On the touchscreen, ensure that Require Continuous Press is disabled (touch Controls > Autopilot > Customize
Summon > Require Continuous Press).
2. Close all doors and trunks.
3. With Model Y powered on and Park engaged, The touchscreen displays a popup screen.
4. On the touchscreen, choose the direction of travel.
5. Exit Model Y and close the driver's door.
Summon now moves Model Y according to the direction you specified on the touchscreen.
NOTE: To cancel the parking maneuver before exiting the vehicle, touch Cancel on the popup screen.
NOTE: If you do not choose a direction of travel on the touchscreen, Summon does not start a parking maneuver
when you exit.
Stopping or Canceling Summon

Stop Model Y at any time while Summon is active by using the mobile app or by pressing any button on the key fob.
Summon also cancels when:
• A door handle is engaged or a door is opened.
• You interact with the steering wheel, brake pedal, accelerator pedal, or shift.
• Model Y detects an obstacle.
• Summon has moved Model Y the maximum distance of approximately 39 ft. (12 meters).
• Your phone enters sleep mode or loses connectivity to Model Y.

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Smart Summon
This feature may be temporarily limited or inactive until it is enabled with a future software update for vehicles
manufactured as of approximately October 2022.This feature may be temporarily limited or inactive until it is
enabled with a future software update for vehicles manufactured as of approximately late May 2023.
Smart Summon is designed to allow you to move Model Y to your location (using your phone's GPS as a target
destination) or to a location of your choice, maneuvering around and stopping for objects as necessary. Smart
Summon works with the Tesla mobile app when your phone is located within approximately 213 ft. (65 meters) of
Model Y. Smart Summon works with the Tesla mobile app when your phone is located within approximately 20 ft. (6
meters) of Model Y.
Smart Summon maneuvers Model Y out of parking spaces and around corners. This is useful for moving Model Y out
of a tight parking spot, through puddles, or helping you retrieve your car while carrying packages. You must
maintain a clear line of sight between you and Model Y and closely monitor the vehicle and its surroundings at all
times.
CAUTION: Smart Summon is designed and intended for use only on parking lots and driveways located on
private property where the surrounding area is familiar and predictable. Do not use Smart Summon on public
roads.
WARNING: Smart Summon must only be used on paved surfaces.
WARNING: Smart Summon is a BETA feature. You must continually monitor the vehicle and its surroundings
and stay prepared to take immediate action at any time. It is the driver's responsibility to use Smart Summon
safely, responsibly, and as intended. It is your responsibility to familiarize yourself with the limitations of Smart
Summon (see Limitations and Warnings on page 187).
Before Using Smart Summon
• Download the latest version of the Tesla mobile app to your phone, and ensure your phone has cellular service
and GPS enabled.
• Your phone must be connected to Model Y and located within approximately 213 ft. (65 meters).
• Your phone must be connected to Model Y and located within approximately 20 ft. (6 meters).
• The vehicle's cameras must be fully calibrated (see Drive to Calibrate Cameras on page 25).
• You must have a clear line of sight to Model Y.
• Model Y must be in Park, not charging, and all doors and trunks must be closed.
CAUTION: Ensure all cameras and sensors (if equipped) are clean. Dirty cameras and sensors, as well as
environmental conditions such as rain and faded lane markings, can affect Autopilot performance.
Using Smart Summon
1. Open the Tesla mobile app, and press Summon.
2. Press the Smart Summon icon located in the center of the image of your Model Y. It may take several seconds for
Smart Summon to start up.
NOTE: You can use Standby Mode to eliminate the delay that occurs when Smart Summon is starting up (see
Standby Mode on page 186).
The mobile app displays a map with a blue circle, which represents the maximum proximity of 213 ft. (65 meters)
that you must maintain between your phone and Model Y. The blue dot on the map represents your location, and
the red arrow represents the vehicle.
The mobile app displays a map with a blue circle, which represents the maximum proximity of 20 ft. (6 meters)
that you must maintain between your phone and Model Y. The blue dot on the map represents your location, and
the red arrow represents the vehicle.
3. Position yourself anywhere within the blue circle where you have a clear line of sight to Model Y.
4. You can now operate Smart Summon using either of these modes:
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◦ Come to Me mode: Press and hold the Come to Me button. Model Y moves to your GPS location. As you move,
Model Y follows you. When Model Y reaches you, it stops and shifts into park.
◦ Go to Target mode: Touch the crosshair icon then drag the map to position the pin on a chosen destination.
Press and hold the Go to Target button. Model Y moves to the destination. When reaching the location, Model
Y stops and shifts into Park and the mobile app displays a message indicating that Summon has completed.
NOTE: To subsequently change the location, lift your finger, reposition the map, then press and hold Go to