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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 CybertruckModel SModel XModel 3Model 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
CybertruckModel SModel XModel 3Model 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 CybertruckModel SModel XModel 3Model Y approaches the off-ramp specified by
the navigation route.
When the instrument clustertouchscreen 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 offramp 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.

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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 693). 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 offramp, 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 CybertruckModel SModel XModel 3Model 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 instrument
clustertouchscreen displays the driving lane lines in blue (instead of the single blue in front of
CybertruckModel SModel XModel 3Model 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 wheelsteering yoke (or steering
wheel) at all times, be mindful of road conditions and surrounding traffic, and always be prepared to take immediate
action. Failure to follow these instructions could cause damage, serious injury or death. It is your responsibility to
familiarize yourself with the limitations of Navigate on Autopilot and the situations in which it may not work as expected.
For more information, see Limitations and Warnings on page 626.
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,
CybertruckModel SModel XModel 3Model Y shifts into Neutral after canceling Autosteer.
• You move the drive stalk upward.
◦ CAUTION: If you move the drive stalk upward and hold it up for more than one second,
CybertruckModel SModel XModel 3Model Y shifts into Neutral after canceling Autosteer.
• You press the right scroll wheel on the steering wheelsteering yoke (or steering wheel).
• You press the right scroll wheel on the steering wheelsteering yoke (or steering wheel).
• You press the brake pedal.
• You exceed 90 mph (150 km/h).
• You shift into Reverse, Park, or Neutral.
• A door is opened.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 640).
• 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 instrument clustertouchscreen 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 wheelsteering yoke (or steering wheel) (even a
slight amount).
WARNING: If Autopilot Activation is set to Double Click and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheelsteering yoke (or steering wheel), Traffic-Aware Cruise Control
remains active. If Autopilot Activation is set to Single Click and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheelsteering yoke (or steering wheel), Traffic-Aware Cruise Control
also cancels.
WARNING: If Autopilot Activation is set to Double Click 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 Click and Autosteer cancels because you started steering manuallyapplied rotational force
to the steering wheel, Traffic-Aware Cruise Control also cancels.
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.

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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 instrument
clustertouchscreen (see Driver Attentiveness on page 571).
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, CybertruckModel SModel XModel 3Model Y does not coast.
Instead, regenerative braking slows down CybertruckModel SModel XModel 3Model 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 461).
While Using Autopilot
When Traffic-Aware Cruise Control is active and Autopilot is maintaining a set speed, the speed is highlighted with blue text
on the instrument clustertouchscreen.
When Autosteer is active, the steering wheelsteering yoke (or steering wheel) icon is blue and the lane markings are
highlighted in blue on the visualization. If Navigate on Autopilot is also active, the Navigate on Autopilot button is blue and the
instrument clustertouchscreen displays the driving lane as a single blue line in front of CybertruckModel SModel XModel
3Model 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.
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 CybertruckModel SModel XModel 3Model 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, CybertruckModel SModel XModel 3Model Y maintains your set cruising speed whenever a vehicle is
not detected in front of it. When cruising behind a vehicle, CybertruckModel SModel XModel 3Model Y accelerates and
decelerates as needed to maintain a chosen following distance (see Adjusting the Following Distance on page 566), up to the
set speed.
You can manually accelerate at any time by pressing the accelerator pedal, but when you release the pedal
CybertruckModel SModel XModel 3Model Y resumes cruising at the set speed.
CybertruckModel SModel XModel 3Model Y also adjusts the cruising speed when entering and exiting curves.
When CybertruckModel SModel XModel 3Model 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
CybertruckModel SModel XModel 3Model 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:
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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.
• 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.

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It may take a few seconds for CybertruckModel SModel XModel 3Model Y to reach the new cruising speed.

Adjusting the Following Distance
To adjust the following distance you want to maintain between CybertruckModel SModel XModel 3Model 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 (Supervised) is active, pressing the steering wheel's right scroll button to the left or right changes
the Full Self-Driving (Supervised) profile (see Full Self-Driving (Supervised) on page 600).
To adjust the following distance you want to maintain between CybertruckModel SModel XModel 3Model Y and a vehicle
traveling ahead of you, touch Controls > Autopilot > Cruise Follow Distance.
To adjust the following distance you want to maintain between CybertruckModel SModel XModel 3Model Y and a vehicle
traveling ahead of you, touch Controls > Autopilot > Cruise Follow Distance or press the right scroll button on the steering wheel
to the left or right.

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The closest following distance is 2.The closest following distance is 1.

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Each setting corresponds to a time-based distance that represents how long it takes for CybertruckModel SModel XModel
3Model 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.
As you adjust the following distance, the touchscreen displays the current setting.

Stopping and Slowdowns
When moving significantly faster than vehicles in adjacent lanes, CybertruckModel SModel XModel 3Model Y automatically
reduces the driving speed. This is especially helpful in heavy traffic situations or when vehicles are constantly merging into
different lanes. When CybertruckModel SModel XModel 3Model Y detects other vehicles driving significantly slower, the
instrument clustertouchscreen highlights the adjacent lanes with arrows and detected vehicles in gray, and
CybertruckModel SModel XModel 3Model 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 CybertruckModel SModel XModel 3Model Y
comes to a full stop. For example, Autopilot remains active even if CybertruckModel SModel XModel 3Model Y slows down to
a complete or near-complete stop in heavy, stop-and-go traffic on a highway. When traffic starts moving more rapidly,
Autopilot again accelerates up to the set speed.
Sometimes when CybertruckModel SModel XModel 3Model 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 instrument clustertouchscreen displays the HOLD icon and a message that
indicates that you need to resume cruise control.

CybertruckModel SModel XModel 3Model Y goes into HOLD state while Autopilot is active in the following circumstances:
• CybertruckModel SModel XModel 3Model Y has been at a standstill for 5 minutes.
• CybertruckModel SModel XModel 3Model Y detects a pedestrian (the HOLD state may clear when the pedestrian is no
longer detected).
• CybertruckModel SModel XModel 3Model Y suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of CybertruckModel SModel XModel 3Model 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 CybertruckModel SModel XModel 3Model 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 right-most 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, CybertruckModel SModel XModel 3Model 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 561). In this case, Autosteer remains active.

Overtake Acceleration
Engage the turn signal momentarily to accelerate CybertruckModel SModel XModel 3Model Y towards the vehicle ahead of it.
By momentarily holding the turn signal stalk up or down 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.
• CybertruckModel SModel XModel 3Model 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, CybertruckModel SModel XModel 3Model Y will change
lanes automatically (see Auto Lane Change on page 556).
CybertruckModel SModel XModel 3Model Y stops accelerating when you reach your set cruising speed, if changing lanes
takes too long, or if CybertruckModel SModel XModel 3Model Y gets too close the vehicle ahead.
CybertruckModel SModel XModel 3Model Y also stops accelerating if you disengage the turn signal.

Stop Light and Stop Sign Warning
While Autopilot is in use, CybertruckModel SModel XModel 3Model Y displays a warning on the instrument
clustertouchscreen 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 CybertruckModel SModel XModel
3Model 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 CybertruckModel SModel XModel 3Model Y at traffic lights and stop signs (see
Traffic Light and Stop Sign Control on page 594).
Emergency Vehicles
CybertruckModel SModel XModel 3Model 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 instrument clustertouchscreen 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
wheelsteering yoke (or steering wheel). When the light detections pass by or cease to appear, Autopilot resumes your cruising
speed. Alternatively, you may tap the accelerator to resume your cruising speed.
Never depend on Autopilot features to determine the presence of emergency vehicles. CybertruckModel SModel XModel
3Model 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 CybertruckModel SModel XModel 3Model 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 instrument clustertouchscreen and the following message displays:
Steering yoke alert:
Apply slight turning force to steering yoke

Steering wheel alert:
Apply slight turning force to steering wheel

When your hands are detected, the message disappears and Autosteer resumes normal operation. Autosteer detects your
hands by recognizing slight resistance as the steering wheel turns, or from you manually turning the steering wheel very lightly
(without enough force to take over steering). Autosteer also qualifies your hands as being detected if you engage a turn signal
or use a button or scroll wheel on the steering wheel.
Autosteer requires that you pay attention to your surroundings and remain prepared to take control at any time. If Autosteer
still does not detect your hands on the steering wheel, the flashing light on the vehicle status section of the instrument
clustertouchscreen 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.
Autopilot unavailable for current drive. Autopilot Strikeout - Attention warnings ignored.

For the rest of the drive, you must steer manually. Autosteer is available again on your next drive (after you stop and shift
CybertruckModel SModel XModel 3Model 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.
Autopilot Suspension
Use of Autosteer and Full Self-Driving (Supervised) will be suspended if improper usage is detected.
Use of Autosteer and Full Self-Driving (Supervised) is suspended for a week when you or another driver of your vehicle
receives fivethree Autopilot "strikeouts." A strikeout is when the Autopilot system disengages for the remainder of a trip after
the driver receives several audio and visual warnings for inattentiveness.
You can see how many strikeouts are remaining before Autopilot access is suspended by touching Controls > Autopilot.
A strikeout is forgiven after 7 days, as long as you don't receive another strikeout in that time.
NOTE: If your access to Autosteer and Full Self-Driving (Supervised) is suspended, you can still use Traffic-Aware Cruise
Control and all active safety features are still enabled.
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.

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Take Over Steering Immediately
In situations where Autosteer is unable to steer CybertruckModel SModel XModel 3Model Y, Autosteer sounds a warning
chime and displays the following message on the touchscreeninstrument panel.
Take over immediately

When you see this message, TAKE OVER STEERING IMMEDIATELY.

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Traffic-Aware Cruise Control
NOTE: Traffic-Aware Cruise Control is a BETA feature.
Traffic-Aware Cruise Control determines when there is a vehicle in front of you in the same lane. If the area in front of
CybertruckModel SModel XModel 3Model Y is clear, Traffic-Aware Cruise Control maintains a set driving speed. When a
vehicle is detected, Traffic-Aware Cruise Control is designed to slow down CybertruckModel SModel XModel 3Model Y as
needed to maintain a selected time-based distance from the vehicle in front, up to the set speed. Traffic-Aware Cruise Control
does not eliminate the need to watch the road in front of you and to manually apply the brakes when needed.
Traffic-Aware Cruise Control is primarily intended for driving on dry, straight roads, such as highways.
CAUTION: Ensure all cameras and sensors (if equipped) are clean before each drive. Dirty cameras and sensors, as well
as environmental conditions such as rain and faded lane markings, can affect Autopilot performance.
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 CybertruckModel SModel XModel
3Model 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 CybertruckModel SModel XModel 3Model Y down for them. 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: 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. Traffic-Aware Cruise Control does not adapt driving speed based on road and driving conditions.
To Use Traffic-Aware Cruise Control
To initiate Traffic-Aware Cruise Control when no vehicle is detected ahead of you, you must be driving at least 18 mph
(30 km/h), unless certain vehicle and environmental conditions are met, in which case, you may be able to initiate it at lower
speeds. If a vehicle is detected ahead of you, you can initiate Traffic-Aware Cruise Control at any speed, even when stationary,
provided CybertruckModel SModel XModel 3Model Y is at least 5 feet (1.5 m) behind the detected vehicle and certain vehicle
and environmental conditions are met.
NOTE: The maximum cruising speed is 90 mph (150 km/h). It is the driver's responsibility to cruise at a safe speed based on
road conditions and speed limits.
When Traffic-Aware Cruise Control is available but not engaged, the instrument panel displays a gray cruising
speed icon. The number shown in gray represents the cruising speed that will be set when you engage TrafficAware Cruise Control.

When Traffic-Aware Cruise Control is actively cruising at a set cruising speed, the icon turns blue and displays
the set cruising speed.

1. When available, you can engage Traffic-Aware Cruise Control to match the speed limit or your current speed. Choose:
◦ To engage Traffic-Aware Cruise Control at your current driving speed, move the Autopilot stalk up or down once and
release the accelerator pedal to allow Traffic-Aware Cruise Control to maintain the cruising speed.

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◦ To engage Traffic-Aware Cruise Control at the currently detected speed limit, pull the Autopilot stalk toward you once
and release the accelerator pedal to allow Traffic-Aware Cruise Control to maintain the cruising speed.

NOTE: If Autopilot Activation is set to Single Pull, moving the Autopilot stalk toward you once activates Autosteer (see
Autosteer on page 584). Touch Controls > Autopilot > Autopilot Activation and choose Double Pull to use Traffic-Aware
Cruise Control independently of Autosteer when you move the Autosteer stalk toward you.
NOTE: If you choose to engage Traffic-Aware Cruise Control at the currently detected speed limit, you can specify an
offset. Touch Controls > Autopilot > Set Speed Offset. You can choose a Fixed offset, in which the cruising speed adjusts
by a specific number of mph (km/h) on all roads, or a Percentage offset, in which the cruising speed is adjusted as a
percentage of the road's detected speed limit. If you pull the Autopilot stalk toward you when you are already driving
faster than the speed limit, the set speed adjusts to your current driving speed instead of the speed limit. If you move
the Autopilot stalk up or down when cruising at the speed limit, your set speed changes to your current driving speed.
WARNING: When you adjust the cruising speed based on the speed limit, the set cruising speed may not change
when the speed limit changes.
WARNING: Do not rely on Traffic-Aware Cruise Control or Speed Assist to determine an accurate or appropriate
cruising speed. It is the driver's responsibility to cruise at a safe speed based on road conditions and applicable
speed limits.
2. To change your speed while using Traffic-Aware Cruise Control, you can use the right scroll wheel or the Autopilot stalk.
For details, see Changing the Cruising Speed on page 575.
3. To cancel Traffic-Aware Cruise Control, push the stalk away from you once or press the brake pedal. See Canceling and
Resuming on page 579 for more information.

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Set Traffic-Aware Cruise Control Chime
If you want a chime to sound when you engage or cancel Traffic-Aware Cruise Control, touch Controls > Autopilot > TrafficAware Cruise Control Chime.
NOTE: CybertruckModel SModel XModel 3Model Y must be in Park.
Changing the Cruising Speed
To change the set cruising speed while using Traffic-Aware Cruise Control, move the Autopilot stalk up (increase) or down
(decrease) until the instrument panel icon displays your desired cruising speed.

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To increase/decrease speed by 1 mph (1 km/h), move the stalk up or down to the first position and release. To increase/
decrease speed to the closest 5 mph (5 km/h) increment, move the stalk up/down to the second position and release. For
example, if you are traveling at 57 mph and you move the stalk up to the second position and release, the speed increases to
60 mph. You can also increase/decrease speed by holding the stalk in the full up/down position and releasing when the icon
on the instrument panel displays your desired cruising speed.
You can also pull and hold the Autopilot stalk towards you for approximately half a second to cruise at the detected speed
limit.
NOTE: It may take a few seconds for CybertruckModel SModel XModel 3Model Y to reach the new cruising speed, assuming
CybertruckModel SModel XModel 3Model Y is not cruising behind a vehicle that is driving slower than your set speed.

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Cruising at the Set Speed
Traffic-Aware Cruise Control maintains your set cruising speed whenever a vehicle is not detected in front of
CybertruckModel SModel XModel 3Model Y. When cruising behind a detected vehicle, Traffic-Aware Cruise Control
accelerates and decelerates CybertruckModel SModel XModel 3Model Y as needed to maintain a chosen following distance
(see Adjust the Following Distance on page 578), up to the set speed.
Traffic-Aware Cruise Control also adjusts the cruising speed when entering and exiting curves.
You can manually accelerate at any time when cruising at a set speed, but when you release the accelerator, Traffic-Aware
Cruise Control resumes cruising at the set speed.
NOTE: When Traffic-Aware Cruise Control is actively slowing down CybertruckModel SModel XModel 3Model Y to maintain
the selected distance from the vehicle ahead, brake lights turn on to alert other road users that you are slowing down. You may
notice slight movement of the brake pedal. However, when Traffic-Aware Cruise Control is accelerating
CybertruckModel SModel XModel 3Model Y, the accelerator pedal does not move.
WARNING: Traffic-Aware Cruise Control may occasionally cause CybertruckModel SModel XModel 3Model 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.
WARNING: Due to limitations inherent in the onboard GPS (Global Positioning System), you may experience situations in
which CybertruckModel SModel XModel 3Model 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.
WARNING: 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. Always
pay attention to the road ahead and stay prepared to take immediate corrective action. Depending on Traffic-Aware
Cruise Control to avoid a collision can result in serious injury or death. In addition, Traffic-Aware Cruise Control may
react to vehicles or objects that either do not exist, or are not in your lane of travel, causing
CybertruckModel SModel XModel 3Model Y to slow down unnecessarily or inappropriately.
WARNING: 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 CybertruckModel SModel XModel 3Model Y to exceed your set speed (and potentially the road's speed limit).
Never depend on Traffic-Aware Cruise Control to slow down CybertruckModel SModel XModel 3Model Y enough to
prevent a collision. Always keep your eyes on the road when driving and be prepared to take corrective action as
needed. Depending on Traffic-Aware Cruise Control to reduce your driving speed enough to prevent a collision can
result in serious injury or death.
HOLD State
When following a vehicle, Traffic-Aware Cruise Control remains active at low speeds, even when
CybertruckModel SModel XModel 3Model Y comes to a full stop. When the vehicle is moving again, Traffic-Aware Cruise
Control resumes operating at the set speed. However, under the following circumstances, Traffic-Aware Cruise Control goes
into a HOLD state, in which case, you need to briefly press the accelerator pedal or pull the Autopilot stalk toward you (see
Canceling and Resuming on page 579) to resume cruising. When the HOLD status is active, the instrument panel displays the
HOLD icon and a message that indicates that you need to resume cruise control. The following circumstances can cause
Traffic-Aware Cruise Control to go into the HOLD state:
• CybertruckModel SModel XModel 3Model Y has been at a standstill for 5 minutes.
• CybertruckModel SModel XModel 3Model Y detects a pedestrian (the HOLD state may clear when the pedestrian is no
longer detected).
• CybertruckModel SModel XModel 3Model Y suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of CybertruckModel SModel XModel 3Model Y.
Cruising Near or On Exits
When cruising near an exit on a controlled-access highway and engaging the turn signal toward the off-ramp, Traffic-Aware
Cruise Control assumes you are exiting and begins to slow down CybertruckModel SModel XModel 3Model Y. If you do not
drive onto the off-ramp, Traffic-Aware Cruise Control 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 right-most lane within 164 feet (50 meters) of an
exit. Likewise in regions with left hand traffic; when engaging the left turn signal when driving in the left-most lane within 164
feet (50 meters) of an exit.
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When cruising onto an on-ramp to a controlled-access highway, Traffic-Aware Cruise Control automatically adjusts the set
cruising speed to the speed limit of the highway, plus any offset you have specified.
NOTE: The on-board Global Positioning System (GPS) determines if you are driving in a region with right or left hand traffic. In
situations where GPS data is unavailable (for example, if there is inadequate signal), engaging the turn signal near an exit does
not cause Traffic-Aware Cruise Control to slow down CybertruckModel SModel XModel 3Model Y.
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 or move the
Autopilot stalk. The new set speed is maintained for the duration of the interchange or off-ramp (unless you override it or
cancel Traffic-Aware Cruise Control). 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.
Adjust the Following Distance
o adjust the following distance you want to maintain between CybertruckModel SModel XModel 3Model Y and a vehicle
traveling ahead of you, rotate the Autopilot stalk. Each setting corresponds to a time-based distance that represents how long
it takes for CybertruckModel SModel XModel 3Model Y, from its current location, to reach the location of the rear bumper of
the vehicle ahead of you. Your setting is retained until you manually change it.
The closest following distance is 2.The closest following distance is 1.

As you rotate the Autopilot stalk, the instrument panel displays the current setting. Release the stalk when the desired setting
is displayed.

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WARNING: It is the driver's responsibility to determine and maintain a safe following distance at all times. Do not rely on
Traffic-Aware Cruise Control to maintain an accurate or appropriate following distance.
WARNING: Never depend on Traffic-Aware Cruise Control to adequately slow down CybertruckModel SModel XModel
3Model Y to avoid a collision. Always watch the road in front of you and stay prepared to take immediate corrective
action.
Overtake Acceleration
When following a vehicle with Traffic-Aware Cruise Control active, engaging the turn signal (to indicate a move into the
passing lane) accelerates CybertruckModel SModel XModel 3Model Y towards the vehicle ahead. 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.
The turn signal causes acceleration only when all of the following conditions are met:
• Traffic-Aware Cruise Control is operating and detects a vehicle in front of you.
• No obstacles or vehicles are detected in the target lane.
• CybertruckModel SModel XModel 3Model Y is traveling below the set speed, but over 45 mph (72 km/h).
Overtake Acceleration is intended as an aid when passing a vehicle ahead of you. When the turn signal is engaged, TrafficAware Cruise Control continues to maintain distance from the vehicle ahead, but allows you to drive slightly closer than your
selected distance.
Acceleration cancels when one of the conditions happen:
• You reach your set cruising speed.
• Changing lanes takes too long.
• CybertruckModel SModel XModel 3Model Y gets too close to the vehicle ahead.
OR
• You disengage the turn signal.
NOTE: Overtake Acceleration occurs when you fully engage the turn signal, or you . When you release the turn signal,
CybertruckModel SModel XModel 3Model Y stops accelerating (in the same way as when you release the accelerator pedal)
and resumes the set speed.
WARNING: 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.
WARNING: Overtake Acceleration increases your driving speed whenever the appropriate turn signal is engaged, and
accelerates CybertruckModel SModel XModel 3Model 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.
Canceling and Resuming
To manually cancel Traffic-Aware Cruise Control, press the brake pedal or briefly push the Autopilot stalk away from you. The
cruising speed icon on the instrument panel turns gray to indicate that Traffic-Aware Cruise Control is no longer active.

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To resume cruising at the previously set speed, briefly pull the Autopilot stalk toward you.

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To resume cruising at the current driving speed, move the Autopilot stalk up or down, then release.

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NOTE: Depending on date of manufacture, some CybertruckModel SModel XModel 3Model Y vehicles have a button on the
end of the Autopilot stalk. Pressing this button when Traffic-Aware Cruise Control is active cancels Traffic-Aware Cruise
Control.
NOTE: When Traffic-Aware Cruise Control cancels, CybertruckModel SModel XModel 3Model Y does not coast. Instead,
regenerative braking slows down CybertruckModel SModel XModel 3Model 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 461).
WARNING: Traffic-Aware Cruise Control cancels, or may not be available, in the following situations:
• You press the brake pedal.
• Your driving speed exceeds the maximum cruising speed of 90 mph (150 km/h).
• You shift CybertruckModel SModel XModel 3Model Y.
• A door is opened.
• A camera or sensor (if equipped) is obstructed. This could be caused by dirt, mud, ice, snow, fog, etc.
• The traction control setting is manually disabled or is repeatedly engaging to prevent wheels from slipping.