Target again.
To stop Model Y at any time, simply release the Come to Me or Go to Target button.
The map's crosshair icon toggles between Go to Target and Come to Me modes. When Come to Me
mode is selected, the icon is blue.
NOTE: The map also has an icon that allows you to display/hide satellite imagery.

Immediately after initiating Smart Summon in either mode, hazard lights briefly flash, mirrors fold, and Model Y shifts
into Drive or Reverse. Model Y then slowly moves to within 3 ft. (1 meter) of you (Come to Me) or your chosen
destination (Go to Target), navigating obstacles as needed. As Model Y moves, the corresponding red arrow on the
map also moves to show the vehicle’s location. As you move, the corresponding blue dot also moves to show your
location.
In either mode, Model Y stops moving and shifts into park when:
• You release the button on the mobile app.
• The maximum proximity between your phone and Model Y is exceeded (if moving the vehicle to a destination
away from you, you may need to follow the car to maintain this distance).
• The driving path is blocked.
• Model Y has moved the maximum distance of 475 ft. (145 meters) since the start of the Smart Summon session,
or has moved 492 ft. (150 meters) away from the location from which the vehicle was last driven manually.
NOTE: If Smart Summon moves Model Y forward 3 ft. and then backwards 2 ft., this is considered 5 ft. of travel.
• Model Y has moved the maximum distance of 65 ft. since the start of the Smart Summon session.
NOTE: If Smart Summon moves Model Y forward 3 meters and then backwards 2 meters, this is considered 5
meters of travel.
NOTE: There is no need to look at the mobile app—just hold down the button while keeping your eye on Model Y
and its driving path at all times, remaining ready to release the button to stop the vehicle if needed.
If equipped and Auto HomeLink is enabled for Summon (touch Controls > Autopilot > Customize Summon > Use
Auto HomeLink), Smart Summon automatically opens a HomeLink device if you start the Smart Summon maneuver
when Model Y is located inside a garage. The mobile app informs you that the door has opened.
WARNING: When you release the button to stop Model Y, a slight delay occurs before the vehicle stops.
Therefore, it is critical that you pay close attention to the vehicle’s driving path at all times and proactively
anticipate obstacles that the vehicle may be unable to detect.
WARNING: Use extreme caution when using Smart Summon in environments where movement of obstacles
can be unpredictable. For example, where people, children or animals are present.
WARNING: Smart Summon may not stop for all objects (especially very low objects such as some curbs, or
very high objects such as a shelf) and may not react to all oncoming or side traffic. Pay attention and be ready
to stop Model Y at all times by releasing the button on the mobile app.
Standby Mode
To keep Model Y ready to Summon and reduce the time it takes to warm up, turn on Standby Mode. Touch Controls
> Autopilot > Standby Mode. When Standby Mode is turned on, you can conserve Battery energy by disabling
Standby Mode at these locations:

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• Exclude Home - Disables Standby Mode at the location you set as Home in your Favorites list.
• Exclude Work - Disables Standby Mode at the location you set as Work in your Favorites list.
• Exclude Favorites - Disables Standby Mode at any location in your Favorites list.
NOTE: To conserve energy, Smart Summon automatically exits Standby mode from midnight to 6:00 am. During
these hours, a delay occurs as Smart Summon starts up.
NOTE: Additional battery power may be consumed while Standby Mode is active.
NOTE: For details on how to designate a location as Home, Work, or Favorites, see Home, Work, and Favorite
Destinations on page 228.
Stopping or Canceling Smart Summon
Smart Summon stops Model Y whenever you release the button on the mobile app. To resume the Smart Summon
session, simply press the Come to Me or Go to Target button again.
WARNING: Always anticipate when you need to stop Model Y. Depending on the quality of the connectivity
between the phone and Model Y, there may be a slight delay between when you release the button and when
the car stops.
Smart Summon cancels, and requires you to restart it, 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 is blocked by an obstacle.
• Smart Summon has moved Model Y the maximum distance. To move further than this distance, you must shift
Model Y into Drive or Reverse and then re-initiate a Smart Summon session.
• Your phone enters sleep mode or loses connectivity to Model Y.

Limitations and Warnings
This topic includes warnings, cautions, and limitations pertaining to the following Autopilot and Full Self-Driving
(Beta) features.
• Traffic-Aware Cruise Control on page 187
• Autosteer on page 188
• Navigate on Autopilot on page 190
• Autosteer on City Streets (Full Self-Driving (Beta)) on page 190
• Autopark on page 191
• Summon on page 192
• Smart Summon on page 192
WARNING: Read the following warnings and limitations carefully before using Autopilot. Failure to follow all
warnings and instructions can result in property damage, serious injury, or death.
NOTE: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot features
(see Cleaning a Camera on page 267). 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 317.
Traffic-Aware Cruise Control
While using Traffic-Aware Cruise Control, it is the driver’s responsibility to stay alert, drive safely, and be in control
of the vehicle at all times. Always keep your eyes on the road when driving and be prepared to take corrective
action as needed.

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In addition, it is the driver’s responsibility to cruise at a safe speed and maintain a safe following distance based on
road conditions and applicable speed limits. Be aware of the following limitations while Traffic-Aware Cruise Control
is active.
• There may be situations where the cruising speed may not change when the speed limit changes.
• Traffic-Aware Cruise Control does not adapt driving speed based on road and driving conditions. Do not use
Traffic-Aware Cruise Control on winding roads with sharp curves, on icy or slippery road surfaces, or when
weather conditions (such as heavy rain, snow, fog, etc.) make it inappropriate to drive at a consistent speed.
• Do not rely on Traffic-Aware Cruise Control to maintain an accurate or appropriate following distance.
• Traffic-Aware Cruise Control may be unable to provide adequate speed control because of limited braking
capability and hills. It can also misjudge the distance from a vehicle ahead. Driving downhill can increase driving
speed, causing Model Y to exceed your set speed (and potentially the road's speed limit).
• Traffic-Aware Cruise Control may occasionally cause Model Y to brake when not required or when you are not
expecting it. This can be caused by closely following a vehicle ahead, detecting vehicles or objects in adjacent
lanes (especially on curves), etc.
• Due to limitations inherent in the onboard GPS (Global Positioning System), you may experience situations in
which Model Y slows down, especially near exits or off-ramps where a curve is detected and/or you are
navigating to a destination and not following the route.
• 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.
• Traffic-Aware Cruise Control may not detect all objects and, especially when cruising over 50 mph (80 km/h),
may not brake/decelerate when a vehicle or object is only partially in the driving lane or when a vehicle you are
following moves out of your driving path and a stationary or slow-moving vehicle or object is in front of you.
• Traffic-Aware Cruise Control may react to vehicles or objects that either do not exist, or are not in your lane of
travel, causing Model Y to slow down unnecessarily or inappropriately.
WARNING: Traffic-Aware Cruise Control is particularly unlikely to operate as intended in the following types of
situations:
• The road has sharp curves or significant changes in elevation.
• Road signs and signals are unclear, ambiguous, or poorly maintained.
• Visibility is poor (due to heavy rain, snow, hail, etc. or poorly lit roadways at night)
• You are driving in a tunnel or next to a highway divider that interferes with the view of the camera(s)
• Bright light (such as from oncoming headlights or direct sunlight) interferes with the view of the camera(s).
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper
operation of Traffic-Aware Cruise Control. Traffic-Aware Cruise Control can cancel unexpectedly at any time for
unforeseen reasons. Always watch the road in front of you and stay prepared to take appropriate action. It is
the driver's responsibility to be in control of Model Y at all times.
WARNING: Traffic-Aware Cruise Control is designed for your driving comfort and convenience and is not a
collision warning or avoidance system. 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.
WARNING: Although Traffic-Aware Cruise Control is capable of detecting pedestrians and cyclists, never
depend on Traffic-Aware Cruise Control to adequately slow Model Y down for them. Failure to do so can result
in serious injury or death.
Autosteer
WARNING: Autosteer 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.
WARNING: Autosteer is intended for use on controlled-access highways with a fully attentive driver. Do not use
Autosteer in construction zones, or in areas where bicyclists or pedestrians may be present.
WARNING: Never depend on Autosteer to determine an appropriate driving path.

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CAUTION: Autosteer and its associated functions are particularly unlikely to operate as intended when:
• Autosteer is unable to accurately determine lane markings. For example, lane markings are excessively
worn, have visible previous markings, have been adjusted due to road construction, are changing quickly
(lanes branching off, crossing over, or merging), objects or landscape features are casting strong shadows
on the lane markings, or the road surface contains pavement seams or other high-contrast lines.
• Visibility is poor (heavy rain, snow, fog, etc.) or weather conditions are interfering with sensor operation.
• A camera(s) or sensor(s) is obstructed, covered, or damaged.
• Driving on hills.
• Approaching a toll booth.
• Driving on a road that has sharp curves or is excessively rough.
• Bright light (such as direct sunlight) is interfering with the view of the camera(s).
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic
waves.
• A vehicle is detected in your blind spot when you engage the turn signal.
• Model Y is being driven very close to a vehicle in front of it, which is blocking the view of the camera(s).
WARNING: Many unforeseen circumstances can impair the operation of Autosteer. Always keep this in mind
and remember that as a result, Autosteer may not steer Model Y appropriately. Always drive attentively and be
prepared to take immediate action.
WARNING: Autosteer is not designed to, and will not, steer Model Y around objects partially in a driving lane
and in some cases, may not stop for objects that are completely blocking the driving lane. Always watch the
road in front of you and stay prepared to take immediate action. It is the driver's responsibility to be in control
of Model Y at all times.

Auto Lane Change
CAUTION: When changing lanes using Auto Lane Change, It is the driver's responsibility to determine whether
a lane change is safe and appropriate. Therefore, before initiating a lane change, always check blind spots, lane
markings, and the surrounding roadway to confirm it is safe and appropriate to move into the target lane.
CAUTION: Be aware of the following limitations while using Auto Lane Change.
• Never depend on Auto Lane Change to determine an appropriate driving path. Drive attentively by
watching the road and traffic ahead of you, checking the surrounding area, and monitoring the touchscreen
for warnings. Always be prepared to take immediate action.
• Do not use Auto Lane Change on roads where traffic conditions are constantly changing and where bicycles
and pedestrians are present.
• The performance of Auto Lane Change depends on the ability of the camera(s) to recognize lane markings.
• Do not use Auto Lane Change on winding roads with sharp curves, on icy or slippery roads, or when
weather conditions (such as heavy rain, snow, fog, etc.) may be obstructing the view from the camera(s) or
sensors (if equipped).
• Overtake Acceleration can cancel for many unforeseen reasons in addition to those listed above (for
example, lack of GPS data). Stay alert and never depend on Overtake Acceleration to increase your driving
speed.
• Overtake Acceleration increases your driving speed whenever the appropriate turn signal is engaged, and
accelerates Model Y closer to the vehicle ahead. Although Traffic-Aware Cruise Control continues to
maintain distance from the vehicle ahead, it is important to be aware that your selected following distance
is reduced when Overtake Acceleration is active, particularly in cases where it may not be your intention to
overtake the vehicle you are following.

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Stop Light and Stop Sign Warning
WARNING: Stop Light and Stop Sign Warning requires on-board maps to know that a particular stop light or
stop sign exists at a location. In some cases, map data is inaccurate or outdated and may not include all stop
lights or stop signs. Therefore, Stop Light and Stop Sign Warning may not detect all stop lights and stop signs.
WARNING: The Stop Light and Stop Sign Warning feature does not apply the brakes or decelerate Model Y
and may not detect all stop lights and stop signs. Stop Light and Stop Sign Warning is designed for guidance
purposes only and is not a substitute for attentive driving and sound judgment. Keep your eyes on the road
when driving and never depend on Stop Light and Stop Sign Warning to warn you of a stop light or stop sign.
WARNING: Stop Light and Stop Sign Warning is designed to warn you only when approaching a visible red
stop sign, solid red or later portion of a yellow traffic light. It may not warn you of intersections with flashing
lights and it does not warn you of yield signs or temporary stop and yield signs (such as those used in
construction areas). Additionally, Stop Light and Stop Sign Warning does not warn you of approaching stop
lights or stop signs when you are pressing the accelerator pedal or brake pedal (which disables Autosteer).
Navigate on Autopilot
WARNING: Never depend on Navigate on Autopilot to determine an appropriate lane at an off-ramp. Stay alert
and perform visual checks to ensure that the driving lane is safe and appropriate.
WARNING: If you turn off Require Lane Change Confirmation, Navigate on Autopilot notifies you of upcoming
lane changes and off-ramps, but it remains your responsibility to monitor the environment and maintain
control of Model Y at all times. Lane changes can occur quickly and suddenly. Always keep your hands on the
wheel and your eyes on the driving path in front of you.
WARNING: Navigate on Autopilot does not make driving autonomous. You must pay attention to the road,
keep your hands on the steering wheel at all times, and remain aware of your navigation route.
WARNING: As is the case with normal driving, be extra careful around blind corners, interchanges, and onramps and off-ramps - obstacles can appear quickly and at any time.
WARNING: Navigate on Autopilot may not recognize or detect oncoming vehicles, stationary objects, and
special-use lanes such as those used exclusively for bikes, carpools, emergency vehicles, etc. Remain alert at all
times and be prepared to take immediate action. Failure to do so can cause damage, injury or death.
Autosteer on City Streets (Full Self-Driving (Beta))
WARNING: Always remember that Full Self-Driving (Beta) (also known as Autosteer on City Streets) does not
make Model Y autonomous and requires a fully attentive driver who is ready to take immediate action at all
times.
WARNING: Full Self-Driving (Beta) 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 Full Self-Driving (Beta) and the situations in which it may not work as
expected.
WARNING: Failure to follow all warnings and instructions can result in property damage, serious injury or
death.

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CAUTION: Full Self-Driving (Beta) and its associated functions may not operate as intended and there are
numerous situations in which driver intervention may be needed. Examples include (but are not limited to):
• Interactions with pedestrians, bicyclists, and other road users.
• Unprotected turns with high-speed cross traffic.
• Multi-lane turns.
• Simultaneous lane changes.
• Narrow roads with oncoming cars or double-parked vehicles.
• Rare objects such as trailers, ramps, cargo, open doors, etc. protruding from vehicles.
• Merges onto high-traffic, high-speed roads.
• Debris in the road.
• Construction zones.
• High curvature roads, particularly at fast driving speeds.
Visibility is critical for Full Self-Driving (Beta) to operate. Low visibility, such as low light or poor weather
conditions (rain, snow, direct sun, fog, etc.) can significantly degrade performance.
WARNING: Model Y may quickly and suddenly make unexpected maneuvers or mistakes that require
immediate driver intervention.
The list above represents only a fraction of the possible scenarios that can cause Full Self-Driving (Beta) to
make sudden maneuvers and behave unexpectedly. In fact, Model Y can suddenly swerve even when driving
conditions appear normal and straight-forward. Stay alert and always pay attention to the roadway so you can
anticipate the need to take corrective action as early as possible. Remember that this is an early access feature
that must be used with extra caution.
CAUTION: As Full Self-Driving (Beta) deployment expands, Tesla will gradually make it available to eligible
customers in select countries outside the United States. 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.
Autopark
CAUTION: 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. Be aware of the following warnings
before and while using Autopark:
• 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.
• 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.
• When Autopark is actively steering Model Y, the steering wheel moves in accordance with Autopark's
adjustments. Do not interfere with the movement of the steering wheel. Doing so cancels Autopark.
• During the parking sequence, continually check your surroundings. Be prepared to apply the brakes to
avoid vehicles, pedestrians, or objects.
• When Autopark is active, monitor the touchscreen to ensure that you are aware of the instructions that
Autopark is providing.

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CAUTION:
Autopark is particularly unlikely to operate as intended in these situations:
• The road is sloped. Autopark is designed to operate on flat roads only.
• Visibility is poor (due to heavy rain, snow, fog, etc.).
• The curb is constructed of material other than stone, or the curb cannot be detected.
• The target parking space is directly adjacent to a wall or pillar (for example, the last parking space of a row
in an underground parking structure).
• One or more of the sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice,
or snow, or by a vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating,
etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with
sensor (if equipped) operation.
• The sensors (if equipped) are affected by other electrical equipment or electrical interference.
WARNING: Many unforeseen circumstances can impair Autopark's ability to park Model Y. Keep this in mind
and remember that as a result, Autopark may not steer Model Y appropriately. Pay attention when parking
Model Y and stay prepared to immediately take control.
Summon
CAUTION: Summon's performance depends on the ability of the cameras and sensors (if equipped) to
determine the vehicle's proximity to objects, people, animals, and other vehicles. Summon is unlikely to operate
as intended in the following types of situations:
• The driving path is sloped. Summon is designed to operate on flat roads only (up to 10% grade).
• A raised concrete edge is detected. Summon does not move Model Y over an edge that is higher than
approximately 1 in (2.5 cm).
• One or more of the sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice,
or snow, or by a vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating,
etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with
sensor operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic
waves.
• Model Y is in Trailer Mode or an accessory is attached.
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper
operation of Summon. It is the driver's responsibility to remain in control of Model Y at all times. Pay close
attention whenever Summon is actively moving Model Y and stay prepared to take immediate action. Failure to
do so can result in serious property damage, injury or death.
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.
Smart Summon
CAUTION: 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.
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.

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NOTE: Smart Summon is disabled if Model Y is in Valet mode (see Valet Mode on page 139).
CAUTION:
Smart Summon is unlikely to operate as intended in the following types of situations:
• GPS data is unavailable due to poor cellular coverage.
• The driving path is sloped. Smart Summon is designed to operate on flat roads only (up to 10% grade).
• A raised concrete edge is detected. Depending on the height of the concrete edge, Smart Summon may not
move Model Y over it.
• One or more of the sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice,
or snow, or by a vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating,
etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with
sensor (if equipped) or camera operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic
waves.
• Model Y is in Trailer Mode or an accessory is attached
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper
operation of Smart Summon. It is the driver's responsibility to remain in control of Model Y at all times. Pay
close attention whenever Smart Summon is actively moving Model Y and stay prepared to take immediate
action. Failure to do so can result in serious property damage, injury or death.
WARNING: Smart Summon must only be used on paved surfaces.
WARNING: Smart Summon may not stop for all objects (especially very low objects such as some curbs, or
very high objects such as a shelf) and may not react to all traffic. Smart Summon does not recognize the
direction of traffic, does not navigate around empty parking spaces, and may not anticipate crossing traffic.
WARNING: When using Smart Summon, you must maintain a clear line of sight between you and Model Y and
stay prepared to stop the vehicle at any time by releasing the button on the mobile app.
WARNING: When you release the button to stop Model Y, a slight delay occurs before the vehicle stops.
Therefore, it is critical that you pay close attention to the vehicle’s driving path at all times and proactively
anticipate obstacles that the vehicle may be unable to detect.
WARNING: Use extreme caution when using Smart Summon in environments where movement of obstacles
can be unpredictable. For example, where people, children or animals are present.
WARNING: Smart Summon may not stop for all objects (especially very low objects such as some curbs, or
very high objects such as a shelf) and may not react to all oncoming or side traffic. Pay attention and be ready
to stop Model Y at all times by releasing the button on the mobile app.

Active Safety Features

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Lane Assist
Model Y monitors the markers on the lane you are driving in as well as the surrounding areas for the presence of
vehicles or other objects.
NOTE: For vehicles manufactured as of approximately October 2022, Lane Assist does not show visualizations
(colored lines on the touchscreen corresponding to detected objects) when Model Y is in motion, or the
visualizations may not look exactly as described.
NOTE: For vehicles manufactured as of approximately late May 2023, Lane Assist does not show visualizations
(colored lines on the touchscreen corresponding to detected objects) when Model Y is in motion, or the
visualizations may not look exactly as described.
When an object is detected in your blind spot or near the side of Model Y (such as a vehicle, guard rail, etc.), the
touchscreen displays colored lines radiating from the image of your vehicle. The location of the lines correspond to
the location of the detected object. The color of the lines (white, yellow, orange, or red) represent the object's
proximity to Model Y, with white being the farthest and red being the closest and requiring your immediate
attention. These colored lines only display when driving between approximately 7 and 85 mph (12 and 140 km/h).
When Autosteer is active, these colored lines also display if driving slower than 7 mph (12 km/h). However, the
colored lines do not display if Model Y is at a standstill (for example, in heavy traffic).

WARNING: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot
features (see Cleaning a Camera on page 267). 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 317.
WARNING: Lane Assist features are for guidance purposes only and are not intended to replace your own
direct visual checks. Before changing lanes, always use side mirrors and perform the appropriate shoulder
checks to visually determine if it is safe and appropriate to change lanes.
WARNING: Never depend on Lane Assist to inform you if you unintentionally drive outside of the driving lane,
or to inform you that there is a vehicle beside you or in your blind spot. Several external factors can reduce the
performance of Lane Assist (see Limitations and Inaccuracies on page 196). It is the driver's responsibility to
stay alert and pay attention to the driving lane and other road users. Failure to do so can result in serious injury
or death.

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Steering Interventions
Lane Assist provides steering interventions if Model Y drifts into (or close to) an adjacent lane in which an object,
such as a vehicle, is detected. In these situations, Model Y automatically steers to a safer position in the driving lane.
This steering is applied only when Model Y is traveling between 30 and 85 mph (48 and 140 km/h) on major roads
with clearly visible lane markings. When a steering intervention is applied, the touchscreen briefly displays a warning
message.
Lane Departure Avoidance
Lane Departure Avoidance is designed to warn you if Model Y is drifting out of, or nears the edge of, your driving
lane.
Lane Departure Avoidance operates when driving between 40 and 90 mph (64 and 145 km/h) on roads with clearly
visible lane markings. You can choose if and how you want Lane Departure Warning to operate by touching Controls
> Autopilot > Lane Departure Avoidance and selecting between these options:
• Off: You are not warned of lane departures or potential collisions with a vehicle in an adjacent lane.
• Warning: If a front wheel passes over a lane marking, the steering wheel vibrates.
• Assist: Corrective steering is applied to keep Model Y in a safe position if Model Y drifts into an adjacent lane or
near the edge of the road.
When Lane Departure Avoidance is enabled and Traffic-Aware Cruise Control is active, if Model Y drifts out of the
driving lane when the associated turn signal is off, Lane Assist also checks to see whether your hands are on the
steering wheel. If hands are not detected, the touchscreen displays a series of alerts, similar to those that are used
when driving with Autosteer. If hands are repeatedly not detected Model Y gradually slows down to 15 mph (25
km/h) below the detected speed limit, or below the set cruising speed, and the hazard lights start flashing.
NOTE: Lane Departure Avoidance does not warn you of lane departures, or provide steering interventions, if the
associated turn signal is on, which indicates an intentional lane change.
WARNING: Lane Departure Avoidance is intended to help keep you safe, but it does not work in every situation
and does not replace the need to remain attentive and in control.
WARNING: Keep your hands on the steering wheel and drive attentively at all times.
WARNING: Steering interventions are minimal and are not designed to move Model Y out of its driving lane. Do
not rely on steering interventions to avoid side collisions.
Emergency Lane Departure Avoidance
Emergency Lane Departure Avoidance automatically applies steering to avoid a potential collision in situations
where:
• Model Y is departing a lane and may collide with a vehicle traveling in the same direction in the adjacent lane
(regardless of the status of the turn signal).
• Model Y is departing a lane into an oncoming lane, the turn signal is off, and an oncoming vehicle is detected.
• Model Y is departing the road and the turn signal is off (for example, very close to the edge of the road and a
collision may occur).
To turn this feature on or off, touch Controls > Autopilot > Emergency Lane Departure Avoidance.
When Emergency Lane Departure Avoidance applies steering, a chime sounds and the touchscreen displays a
warning and highlights the lane marking in red.
Emergency Lane Departure Avoidance operates when Model Y is traveling between 40 and 90 mph (64 and 145
km/h) on a road with clearly visible lane markings, curbs, etc.
WARNING: Emergency Lane Departure Avoidance is not a substitute for attentive driving and sound judgment.
Keep your eyes on the road when driving and never depend on Emergency Lane Departure Avoidance to
prevent a collision. Several factors can reduce or impair performance. Depending on Emergency Lane
Departure Avoidance to prevent a potential collision can result in serious injury or death.

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Blind Spot Assist
Automatic Blind Spot Camera

You can turn it on/off by touching Controls > Autopilot > Automatic Blind Spot Camera on the touchscreen.
Once enabled, when the turn signal is engaged, the touchscreen displays the image from the corresponding side
repeater camera. When a vehicle is detected in your blind spot in an adjacent lane, a vertical red bar appears on the
image to warn you. For example, when the left turn signal is engaged and a vehicle is detected, a vertical red bar
appears on the left side of the image. You can move the image to a different location on the touchscreen. To do so,
touch and drag the image to the new location (valid locations are indicated by shaded areas that display when you
touch and hold the image).
WARNING: Automatic Blind Spot Camera does not eliminate the need to drive attentively and manually
perform shoulder checks when changing lanes.
Blind Spot Collision Warning Chime

If you want a chime to sound when a vehicle is in your blind spot and a possible collision is detected, touch Controls
> Autopilot > Blind Spot Collision Warning Chime.
WARNING: Blind Spot Camera does not eliminate the need to drive attentively and manually perform shoulder
checks when changing lanes.
WARNING: Blind Spot Collision Warning Chime cannot detect every collision. It is the driver's responsibility to
remain alert and perform the appropriate shoulder checks when changing lanes.
Limitations and Inaccuracies
Lane Assist features cannot always detect lane markings and you may experience unnecessary or invalid warnings
when:
• Visibility is poor and lane markings are not clearly visible (due to heavy rain, snow, fog, etc.).
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• A vehicle in front of Model Y is blocking the view of the camera(s).
• The windshield is obstructing the view of the camera(s) (fogged over, dirty, covered by a sticker, etc.).
• Lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction,
or are changing quickly (for example, lanes branching off, crossing over, or merging).
• The road is narrow or winding.
• Objects or landscape features are casting strong shadows on lane markers.
Lane Assist may not provide warnings, or may apply inappropriate warnings, when:
• One or more of the sensors (if equipped), or cameras is damaged, dirty, or obstructed (by mud, ice, or snow, or
by a vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coatings, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor
operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• An object that is mounted to Model Y is interfering with and/or obstructing a sensor (such as a bike rack or a
bumper sticker).
In addition, Lane Assist may not steer Model Y away from an adjacent vehicle, or may apply unnecessary or
inappropriate steering, in these situations:
• You are driving Model Y on sharp corners or on a curve at a relatively high speed.
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• You are drifting into another lane but an object (such as a vehicle) is not present.
• A vehicle in another lane cuts in front of you or drifts into your driving lane.

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• Model Y is not traveling within the speeds at which the Lane Assist feature is designed to operate.
• One or more of the sensors (if equipped) is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a
vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor
operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• An object mounted to Model Y (such as a bike rack or a bumper sticker) is interfering with or obstructing a
sensor.
• Visibility is poor and lane markings are not clearly visible (due to heavy rain, snow, fog, etc.).
• Lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction
or are changing quickly (for example, lanes branching off, crossing over, or merging).
WARNING: The lists above do not represent every possible situation that may interfere with Lane Assist
features. There are many reasons why Lane Assist may not operate as intended. To avoid a collision, stay alert
and always pay attention to the road so you can anticipate the need to take corrective action as early as
possible.

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Collision Avoidance Assist
The following collision avoidance features are designed to increase the safety of you and your passengers:
• Forward Collision Warning - provides visual and audible warnings in situations when Model Y detects that there is
a high risk of a frontal collision (see Forward Collision Warning on page 198).
• Automatic Emergency Braking - automatically applies braking to reduce the impact of a collision (see Automatic
Emergency Braking on page 200).
• Obstacle-Aware Acceleration - reduces acceleration if Model Y detects an object in its immediate driving path
(see Obstacle-Aware Acceleration on page 201).
CAUTION: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot
features (see Cleaning a Camera on page 267). 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 317.
WARNING: Forward Collision Warning is for guidance purposes only and is not a substitute for attentive
driving and sound judgment. Keep your eyes on the road when driving and never depend on Forward Collision
Warning to warn you of a potential collision. Several factors can reduce or impair performance, causing either
unnecessary, invalid, inaccurate, or missed warnings. Depending on Forward Collision Warning to warn you of a
potential collision can result in serious injury or death.
WARNING: Automatic Emergency Braking is not designed to prevent all collisions. In certain situations, it can
minimize the impact of a collision by attempting to reduce your driving speed. Depending on Automatic
Emergency Braking to avoid a collision can result in serious injury or death.
WARNING: Obstacle-Aware Acceleration is not designed to prevent a collision. In certain situations, it can
minimize the impact of a collision. Depending on Obstacle-Aware Acceleration to avoid a collision can result in
serious injury or death.
Forward Collision Warning
Model Y monitors the area in front of it for the presence of an object such as a vehicle, motorcycle, bicycle, or
pedestrian. If a collision is considered likely unless you take immediate corrective action, Forward Collision Warning
is designed to sound a chime and highlight the vehicle in front of you in red on the touchscreen. If this happens,
TAKE IMMEDIATE CORRECTIVE ACTION!

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Visual and audible warnings cancel automatically when the risk of a collision has been reduced (for example, you
have decelerated or stopped Model Y, or the object in front of your vehicle has moved out of your driving path).
If immediate action is not taken when Model Y issues a Forward Collision Warning, Automatic Emergency Braking (if
enabled) may automatically apply the brakes if a collision is considered imminent (see Automatic Emergency
Braking on page 200).
By default, Forward Collision Warning is turned on. To turn off or adjust sensitivity, touch Controls > Autopilot >
Forward Collision Warning. Instead of the default warning level of Medium, you can turn the warning Off, or you can
choose to be warned Late or Early.
NOTE: Your chosen setting is retained until you manually change it.
WARNING: The camera(s) and sensors (if equipped) associated with Forward Collision Warning are designed
to monitor an approximate area of up to 525 feet (160 meters) in your driving path. The area being monitored
by Forward Collision Warning can be adversely affected by road and weather conditions. Use appropriate
caution when driving.
WARNING: Forward Collision Warning is designed only to provide visual and audible alerts. It does not attempt
to apply the brakes or decelerate Model Y. When seeing and/or hearing a warning, it is the driver's
responsibility to take immediate corrective action.
WARNING: Forward Collision Warning may provide a warning in situations where the likelihood of collision may
not exist. Stay alert and always pay attention to the area in front of Model Y so you can anticipate whether any
action is required.
Forward Collision Warning operates only when driving between approximately 7 mph (10 km/h) and 90 mph (150
km/h) 3 mph (5 km/h) and 124 mph (200 km/h).
WARNING: Forward Collision Warning does not provide a warning when the driver is already applying the
brake.

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Automatic Emergency Braking
Model Y is designed to determine the distance from detected objects. When a collision is considered unavoidable,
Automatic Emergency Braking is designed to apply the brakes to reduce the vehicle's speed and therefore, the
severity of the impact. The amount of speed that is reduced depends on many factors, including driving speed and