to a warm temperature, turning the windshield defroster on, and directing the front air vents toward the door pillars (see
Mobile App on page 406).
CAUTION: Do not wipe an exposed lens with your hands or a cloth in an attempt to remove dirt or debris. The debris can
damage the surface of the lens when wiped.
CAUTION: Do not use chemical-based or abrasive cleaners. Doing so can damage surfaces.
CAUTION: Do not clean an ultrasonic sensor or camera lens with a sharp or abrasive object that can scratch or damage
its surface.

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Full Self-Driving (Supervised)
About Full Self-Driving (Supervised)
When Full Self-Driving (Supervised) (also referred to as Autosteer on City Streets) is engaged, Model SModel X attempts to
drive to your destination by following curves in the road, stopping at and negotiating intersections, making left and right turns,
navigating roundabouts, and entering/exiting highways.
Unlike Traffic-Aware Cruise Control, Autosteer, and Navigate on Autopilot, which are intended for use on multi-lane roadways
with clear lane markings, Full Self-Driving (Supervised) is meant to work in a variety of driving scenarios. You can use Full SelfDriving (Supervised) on any type of roadway, including residential and city streets.
WARNING: 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 820.
Full Self-Driving (Supervised) uses inputs from cameras mounted at the front, rear, left, and right of Model SModel X to build a
model of the area surrounding Model SModel X (see About Autopilot on page 286). The Full Self-Driving computer installed in
Model SModel X is designed to use this input, rapidly process neural networks, and make decisions to safely guide you to your
destination.
NOTE: As Tesla’s Full Self-Driving (Supervised) capabilities evolve, Model SModel X is upgraded through over-the-air
software updates. Download updates as soon as they become available.
NOTE: Full Self-Driving (Supervised) uses Tesla's vision-based system and therefore radar (if equipped) is disabled.
Like other Autopilot features, Full Self-Driving (Supervised) requires a fully attentive driver and will display a series of
escalating warnings requiring driver response. You must keep your hands on the steering wheelsteering yoke while Full SelfDriving (Supervised) is engaged. While Full Self-Driving (Supervised) is engaged, the cabin camera monitors driver
attentiveness (see Driver Attentiveness on page 296).
WARNING: Full Self-Driving (Supervised) is a hands-on feature that requires you to pay attention to the road at all times.
Keep your hands on the steering wheelsteering yoke 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 (especially around blind
corners, crossing intersections, and in narrow driving situations). Failure to follow these instructions could cause
damage, serious injury or death. It is your responsibility to familiarize yourself with the limitations of Full Self-Driving
(Supervised) and the situations in which it may not work as expected. For more information, see Limitations and
Warnings on page 297.
CAUTION: Use of Full Self-Driving (Supervised) will be suspended if improper usage is detected. For more information,
see Autopilot Suspension on page 297.
CAUTION: As Full Self-Driving (Supervised) deployment expands, Tesla will gradually make it available to eligible
customers in select countries outside of the United States and Canada. Because every country contains unique
infrastructure, driving behaviors, and traffic patterns that Full Self-Driving (Supervised) must adapt to over time, it is
essential for drivers using Full Self-Driving (Supervised) in newly eligible countries to be extra attentive and overly
cautious. You must be ready to take over safely at any time.
Before Using Full Self-Driving (Supervised)
Before using Full Self-Driving (Supervised), you must:
• Ensure that the cameras on Model SModel X are unobstructed and calibrated. Full Self-Driving (Supervised) depends on
the ability of the cameras to detect traffic lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model SModel X. Although Full Self-Driving (Supervised)
primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using the most recent
map data. To check which version of maps is currently downloaded, touch Controls > Software. You must connect to a WiFi network to receive updated maps (see Map Updates on page 374).
In addition, you must enable Full Self-Driving (Supervised) before you can use it. To enable Full Self-Driving (Supervised),
touch Controls > Autopilot > Full Self-Driving (Supervised) and then, after carefully reading and understanding the popup
window, touch Yes.
NOTE: When Full Self-Driving (Supervised) is enabled, the setting for Autopilot Activation is set to Single Pull and TrafficAware Cruise Control and Autosteer are unavailable.
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Customize Full Self-Driving (Supervised) settings by touching Controls > Autopilot.
• Full Self-Driving (Supervised): If desired, change the default setting of Average to Chill or Assertive. Chill provides a more
relaxed driving style and Assertive drives with more urgency.
• Minimal Lane Changes for the Current Drive: When selected, Full Self-Driving (Supervised) makes fewer lane changes on
the current drive. Model SModel X will still make lane changes as necessary to follow the navigation route.
• Automatic Set Speed Offset: When enabled, Model SModel X drives at the speed that Autopilot determines to be the most
natural. This considers factors like road type, traffic flow, environmental conditions, the detected speed limit, and the
selected Full Self-Driving (Supervised) profile setting.
WARNING: You are responsible for the speed of the vehicle at all times, whether Autopilot is engaged or not.

To Use Full Self-Driving (Supervised)
Once Full Self-Driving (Supervised) is enabled, activate it the same way you would Autosteer (see Autosteer on page 310).
1. Enter a destination. If you do not choose a destination, Model SModel X chooses the most probable driving path or
suggests a destination based on your driving.
2. When the instrument cluster displays the gray steering wheelsteering yoke icon, pull the Autopilot stalk toward you.

You can engage Full Self-Driving (Supervised) at any speed less than 85 mph (150 km/h), including when Model SModel X is
at a standstill.
The instrument cluster displays the maximum speed in blue. When you engage Full Self-Driving (Supervised), the set cruising
speed defaults to the speed limit, plus any offset you’ve specified. If Autopilot is unable to determine the speed limit, the
cruising speed is your current speed, in addition to any specified offset.
To indicate that Full Self-Driving (Supervised) is available but not engaged, the top corner of the touchscreen
displays a gray steering wheelsteering yoke icon next to the driving gear.

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

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

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NOTE: The Full Self-Driving (Supervised) visualization may not be a holistic representation of the objects, road markings, road
signals, and other variables that Full Self-Driving (Supervised) takes into account as it attempts to drive to your destination.
While Full Self-Driving (Supervised) is engaged, it uses data from the cameras on Model SModel X that may not be
represented in the visualization (see About Autopilot on page 286).
NOTE: Full Self-Driving (Supervised) uses Tesla’s vision-based system and therefore radar (if equipped) is disabled.

The visualization will also inform you of the system’s intended action by displaying a message on the instrument cluster, such
as when the vehicle is slowly creeping for visibility to take a turn at an intersection.
NOTE: You can override Full Self-Driving (Supervised) at any time if you are uncomfortable or uncertain about the system’s
intended course of action. You are driving Model SModel X at all times.
Canceling Full Self-Driving (Supervised)
To disengage Full Self-Driving (Supervised), do any of the following:
• Press the brake pedal.
• Push the Autopilot stalk away from you once.
• Take over and steer manually.
When you disengage Full Self-Driving (Supervised) by steering manually, Traffic-Aware Cruise Control remains active.
In addition, Full Self-Driving (Supervised) will disengage if any of the following occurs:
• You shift out of Drive.
• A door or trunk is opened.
• There is an Automatic Emergency Braking event (see Collision Avoidance Assist on page 340).
• The driver's seatbelt is released, and/or the driver gets out of their seat.
• You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the instrument
cluster.
• Full Self-Driving (Supervised) becomes unavailable. This can happen for a number of reasons (for example, if a camera
becomes obscured). If Full Self-Driving (Supervised) disengages, an alert will appear on the instrument cluster to notify
you and a chime will sound. If this happens, take control of steering immediately.
When driver intervention is required, it is best to safely disengage as soon as possible. It is recommended to practice
disengaging from Full Self-Driving (Supervised) in safe environment without other road users so you may become familiar with
the process.
While Using Full Self-Driving (Supervised)
Full Self-Driving (Supervised) changes lanes, makes left and right turns, follows on- and off-ramps, and takes forks in the road
as necessary to reach the destination.

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WARNING: NEVER make assumptions and predict when and where Full Self-Driving (Supervised) will stop or continue
through an intersection or road marking. From a driver's perspective, the behavior of Full Self-Driving (Supervised) may
appear inconsistent. Always pay attention to the roadway and be prepared to take immediate action. It is the driver's
responsibility to determine whether to stop or continue through an intersection. Never depend on Full Self-Driving
(Supervised) to determine when it is safe and/or appropriate to stop or continue through an intersection.
Like Autosteer and Traffic-Aware Cruise Control, Full Self-Driving (Supervised) maintains your speed and following distance
from the vehicle ahead of Model SModel X, if there is one. Full Self-Driving (Supervised) also slows down and stops at traffic
lights and stop signs as necessary, and reacts to pedestrians, cyclists, and other vehicles on the road.
For example, if you are driving on a residential street and another vehicle backs out of a driveway ahead of Model SModel X,
Full Self-Driving (Supervised) slows down or stops as appropriate. If the other vehicle stops backing out while partially
blocking the driving lane, Full Self-Driving (Supervised) slows down and maneuvers around the other vehicle if the width of the
lane allows it.
When the traffic in front of you is slowing down, Full Self-Driving (Supervised) shows blue arrows in the driving lane and slows
down to maintain an appropriate following distance from the vehicle ahead of you. When you are driving on the highway, Full
Self-Driving (Supervised) displays a message on the instrument cluster to inform you when an action (such as a lane change)
is being taken.
WARNING: In rare cases, Full Self-Driving (Supervised) may not appropriately slow down, come to a stop, or resume
control for a stop sign or traffic light. You may assist the system by lightly applying the accelerator, or can override Full
Self-Driving (Supervised) at any time.
Once you’ve arrived at your destination, Full Self-Driving (Supervised) stops Model SModel X and displays a message
indicating that navigation is complete.
Changing Lanes

To tell Full Self-Driving (Supervised) to change lanes while on a multi-lane roadway, engage the right or left turn signal. On city
or residential streets, engaging the right or left turn signal tells Full Self-Driving (Supervised) to make a right or left turn,
respectively.
Unlike Navigate on Autopilot, Full Self-Driving (Supervised) does not require confirmation before a lane change. To cancel a
lane change or turn, cancel the turn signal or intervene with the steering wheelsteering yoke or other vehicle controls.
To be notified by a Chime, Vibration, or Both of upcoming lane changes (in addition to the notification on the instrument
cluster), touch Controls > Autopilot > Full Self-Driving (Supervised) and then select a Lane Change Notification.
Changing the Set Speed

While Full Self-Driving (Supervised) is active, move the Autopilot stalk up to increase, or down to decrease, the set speed until
the instrument panel displays your desired cruising speed.
While Full Self-Driving (Supervised) is active, roll the right scroll wheel up to increase, or down to decrease, the set speed.
NOTE: In some cases, your speed is limited by the speed limit, the type of roadway, or the flow of traffic. If this is the case, Full
Self-Driving (Supervised) displays a message at the top of the visualization.
Driver Attentiveness
Like other Autopilot features, Full Self-Driving (Supervised) requires driver attentiveness. Your hands must be on the steering
wheel at all times while Full Self-Driving (Supervised) is engaged, and you must monitor your surroundings, the road, and other
road users.
WARNING: The use of devices designed to circumvent driver attentiveness is a violation of the terms of use for Full SelfDriving (Supervised) and may result in the feature being permanently disabled on your vehicle and a ban on future use of
the feature.
Full Self-Driving (Supervised) periodically displays a message reminding the driver to apply slight force to the steering wheel:

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Apply slight turning force to steering wheel

If Model SModel X does not detect slight turning force on the steering wheel, the instrument cluster flashes and eventually
chimes repeatedly. Do not use handheld devices while using Full Self-Driving (Supervised). If the cabin camera detects a
handheld device while Full Self-Driving (Supervised) is engaged, the instrument cluster displays a message reminding you to
keep your hands on the wheel.
Similarly, the cabin camera monitors your continued attentiveness when using Full Self-Driving (Supervised). This system
cannot be disabled. The instrument cluster displays a message reminding you to pay attention if you repeatedly look away
from the road, obstruct the camera, or prevent the system from identifying your gaze.
If you repeatedly ignore prompts to apply slight force to the steering wheel or to pay attention, Full Self-Driving (Supervised)
disables for the rest of the drive and displays the following message requesting you to drive manually. If you don't resume
manual steering, Full Self-Driving (Supervised) sounds a continuous chime, turns on the warning flashers, and slows the
vehicle to a complete stop.
Autopilot unavailable for current drive. Autopilot Strikeout - Attention warnings ignored.

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.
Limitations and Warnings
WARNING: Always remember that Full Self-Driving (Supervised) (also known as Autosteer on City Streets) does not
make Model SModel X autonomous and requires a fully attentive driver who is ready to take immediate action at all times.
WARNING: Full Self-Driving (Supervised) is a hands-on feature. Keep your hands on the steering wheelsteering yoke 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 (Supervised) 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 (Supervised) 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 (Supervised) to operate. Low visibility, such as low light or poor weather
conditions (rain, snow, direct sun, fog, etc.) can significantly degrade performance.
WARNING: Model SModel X 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 (Supervised) to make
sudden maneuvers and behave unexpectedly. In fact, Model SModel X 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 (Supervised) 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 (Supervised) must adapt to over time, it is essential for drivers using
Full Self-Driving (Supervised) in newly eligible countries to be extra attentive and overly cautious. You must be ready to
take over safely at any time.

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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
Model SModel X is clear, Traffic-Aware Cruise Control maintains a set driving speed. When a vehicle is detected, TrafficAware Cruise Control is designed to slow down Model SModel X 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 Model SModel X. 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 SModel X 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 Model SModel X 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 310). 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.
A chime sounds to indicate that Traffic-Aware Cruise Control is now active.
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 301.
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 305 for more information.

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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 Model SModel X to reach the new cruising speed, assuming Model SModel X 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
Model SModel X. When cruising behind a detected vehicle, Traffic-Aware Cruise Control accelerates and decelerates
Model SModel X as needed to maintain a chosen following distance (see Adjust the Following Distance on page 304), 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 Model SModel X 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 Model SModel X, the accelerator pedal does not
move.
WARNING: Traffic-Aware Cruise Control may occasionally cause Model SModel X 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 Model SModel X 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 Model SModel X 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 Model SModel X to exceed your set speed (and potentially the road's speed limit). Never depend on TrafficAware Cruise Control to slow down Model SModel X 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 Model SModel X 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 305) 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:
• Model SModel X has been at a standstill for 5 minutes.
• Model SModel X detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model SModel X suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model SModel X.
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 Model SModel X. 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.
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.

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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 Model SModel X.
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
To adjust the following distance you want to maintain between Model SModel X 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 Model SModel X,
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 Model SModel X 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 Model SModel X 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.
• Model SModel X 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.
• Model SModel X 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,
Model SModel X 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 Model SModel X 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 Model SModel X 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, Model SModel X does not coast. Instead, regenerative braking slows down
Model SModel X 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 233).
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 Model SModel X.
• 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.
• The wheels are spinning while at a standstill.
• The Traffic-Aware Cruise Control system is failing or requires service.
When Traffic-Aware Cruise Control is unavailable or cancels, Model SModel X no longer drives consistently at a set speed and
no longer maintains a specified distance from the vehicle ahead.
WARNING: 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 SModel X at all times.

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Summary of Cruise Indicators
Traffic-Aware Cruise Control is available but is not actively controlling your speed until you activate it. The
number shown in gray is the cruising speed that will be set when you engage Traffic-Aware Cruise Control.

Traffic-Aware Cruise Control is actively cruising and is either maintaining the set speed (no vehicle in front) or is
maintaining a chosen following distance from a vehicle ahead (up to the set speed).

Model SModel X has fully stopped but is in a HOLD state. If safe, press the accelerator pedal to resume cruising
at the set speed.

Limitations
Traffic-Aware Cruise Control is particularly unlikely to operate as intended in the following types of situations:
• The road has sharp curves.
• Visibility is poor (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 camera or sensor (if equipped) is obstructed (fogged over, dirty, covered by a sticker, etc.).
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of
Traffic-Aware Cruise Control.

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Autosteer
NOTE: Autosteer is a BETA feature.
Autosteer builds upon Traffic-Aware Cruise Control (see Traffic-Aware Cruise Control on page 299), intelligently keeping
Model SModel X in its driving lane when cruising at a set speed. Autosteer also allows you to use the turn signals to move
Model SModel X into an adjacent lane (see Auto Lane Change on page 313). Autosteer detects lane markings and the
presence of vehicles and objects to assist you in steeringsteer Model SModel X.
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, affect performance.
WARNING: Autosteer is a hands-on feature. You must keep your hands on the steering wheelsteering yoke at all times.
WARNING: Autosteer is intended for use on controlled-access highways with a fully attentive driver. When using
Autosteer, hold the steering wheelsteering yoke and be mindful of road conditions and surrounding traffic. Do not use
Autosteer in construction zones, or in areas where bicyclists or pedestrians may be present. Never depend on Autosteer
to determine an appropriate driving path. Always be prepared to take immediate action. Failure to follow these
instructions could cause damage, serious injury or death.
Operating Autosteer
Before you can operate Autosteer, you must enable it by touching Controls > Autopilot > Autopilot Features > Autosteer (Beta).
To indicate that Autosteer is available (but not actively steering Model SModel X), the instrument panel displays
a gray Autosteer icon.

To initiate Autosteer, pull the Autopilot stalk toward you twice in quick succession.

NOTE: If the setting for Autopilot Activation is set to Single Pull (touch Controls > Autopilot > Autopilot Activation), Autosteer
engages when you pull the Autopilot stalk toward you once. If set to Double Pull, you must pull the Autopilot stalk toward you
twice in quick succession to engage Autosteer.

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To indicate that Autosteer is now actively assisting in steering Model SModel X, the instrument panel displays
the Autosteer icon in blue. When Autosteer is able to detect lane markings, it also displays the driving lane in
blue.

Autosteer briefly displays a message on the instrument panel reminding you to pay attention to the road and be ready to take
over at any timehave your hands on the steering wheelsteering yoke.
The speed at which you can initiate Autosteer can vary depending on various conditions and whether or not a vehicle is
detected ahead of you. 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. When a
vehicle is detected ahead of you, you can initiate Autosteer at any speed, even when stationary, provided Model SModel X is at
least 5 feet (150 cm) behind the detected vehicle.
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.
NOTE: When Autosteer is engaged, Auto High Beam is automatically enabled and the maximum cruising speed is 85 mph (140
km/h).
WARNING: Never depend on Autopilot features to determine the presence of emergency vehicles. Model SModel X may