not detect lights from emergency vehicles. Keep your eyes on your driving path and always be prepared to take
immediate action.
In situations where Autosteer is temporarily unavailable, the Autosteer icon disappears. For example, your driving speed is not
within the speed required for Autosteer to operate. Autosteer may also be unavailable if it is not receiving adequate data from
the camera(s).
NOTE: In low light conditions (dusk or dark), Autosteer aborts or is unavailable if headlights are set to Off. For best results, set
headlights to Auto.
If unable to detect lane markings, Autosteer may determine the driving lane based on a vehicle you are following. In these
situations, the vehicle in front of you is highlighted in blue.
In most cases, Autosteer attempts to center Model SModel X in the driving lane. However, there may be situations in which
Autosteer may steer Model SModel X in a driving path that is offset from the center of the lane (for example, detection of
guard rails).
WARNING: Autosteer is not designed to, and will not, steer Model SModel X 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 SModel X at
all times.
Restricted Speed

On a controlled-access highway, the cruising speed reflects the speed limit, taking into consideration any offset you've
specified using Speed Assist. However, if you choose to use Autosteer on residential roads, a road without a center divider, or
a road where access is not limited, Autosteer may limit the maximum allowed cruising speed and the instrument panel displays
a message indicating that speed is restricted. The restricted speed will be the speed limit of the road plus 5 mph (10 km/h).
In situations where the speed limit cannot be detected when Autosteer is engaged, Autosteer reduces your driving speed and
limits the set cruising speed to 45 mph (70 km/h). Although you can manually accelerate to exceed the limited speed,
Model SModel X may not brake for detected obstacles. Autosteer slows down to the limited speed when you release the
accelerator pedal. When you leave the road, or disengage Autosteer by using the steering wheelsteering yoke, you can
increase your set speed again, if desired.
Hold Steering WheelSteering Yoke

Autosteer determines how best to steer assist in steering Model SModel X. When active, Autosteer requires you to hold the
steering wheelsteering yoke. If it does not detect your hands on the steering wheelsteering yoke for a period of time, a
flashing light appears along the top of the instrument panel and the following message displays:

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Apply slight turning force to steering wheel

Autosteer detects your hands by recognizing slight resistance as the steering wheelsteering yoke turns, or from you manually
turning the steering wheelsteering yoke very lightly (without enough force to take over steering). Autosteer also qualifies your
hands as being detected if you engage a turn signal use the Autopilot stalk, or use a button or scroll wheel on the steering
wheelsteering yoke.
NOTE: When your hands are detected, the message disappears and Autosteer resumes normal operation.
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 wheelsteering yoke, the flashing light on the instrument panel increases in
frequency and a chime sounds.
If you repeatedly ignore Autosteer's prompts to apply slight force to the steering wheelsteering yoke, Autosteer disables for
the rest of the drive and displays the following message requesting you to drive manually. 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 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
Model SModel X into Park).
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.
Take Over Immediately

In situations where Autosteer is unable to steer Model SModel X, Autosteer sounds a warning chime and displays the
following message on the instrument panel:
Take over immediately

When you see this message, TAKE OVER STEERING IMMEDIATELY.

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Autosteer is Aborting

In situations where Autosteer is unable to assist in steering Model SModel X, Autosteer aborts, sounds a warning chime, and
displays the following message on the instrument panel:
Autosteer is aborting

Canceling Autosteer

Autosteer cancels when:
• You press the brake pedal.
• You start steering manually.
NOTE: If Autopilot Activation is set to Double Pull and Autosteer cancels because you started steering manually, TrafficAware Cruise Control remains active. If Autopilot Activation is set to Single Pull and Autosteer cancels because you started
steering manually, Traffic-Aware Cruise Control also cancels.
• You apply rotational force to the steering wheelsteering yoke (even a slight amount).
NOTE: If Autopilot Activation is set to Double Pull and Autosteer cancels because you applied rotational force to the
steering wheelsteering yoke, Traffic-Aware Cruise Control remains active. If Autopilot Activation is set to Single Pull and
Autosteer cancels because you started steering manually, Traffic-Aware Cruise Control also cancels.
• You push the Autopilot stalk away from you.
• You exceed the maximum speed at which Autosteer operates – 90 mph (150 km/h).
• You shift.
• A door is opened.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 340).
When Autosteer cancels, it sounds a chime 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.
NOTE: If Autosteer cancels because you started steering manuallyapplied rotational force to the steering wheel, Traffic-Aware
Cruise Control remains active. Disengage Traffic-Aware Cruise Control as you normally would, by pressing the brake pedal or
briefly pushing the Autopilot stalk away from you.
To disable Autosteer so it is no longer available, touch Controls > Autopilot > Autopilot Features > Autosteer (Beta).
Auto Lane Change
When Autosteer is active, engage a turn signal to move Model SModel X into an adjacent lane (moving the steering
wheelsteering yoke would cancel Autosteer).
WARNING: It is the driver's responsibility to determine whether a lane change is safe and appropriate. Auto Lane Change
cannot detect oncoming traffic in the target lane, especially fast moving vehicles from the rear. 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.
WARNING: 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 instrument panel for warnings.
Always be prepared to take immediate action.
WARNING: Do not use Auto Lane Change on roads where traffic conditions are constantly changing and where bicycles
and pedestrians are present.
WARNING: The performance of Auto Lane Change depends on the ability of the camera(s) to recognize lane markings.
WARNING: 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).
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WARNING: Failure to follow all warnings and instructions can result in property damage, serious injury or death.
Operating Auto Lane Change

Auto Lane Change is available whenever Autosteer is active. To change lanes using Auto Lane Change:
1. Perform visual checks to make sure it is safe and appropriate to move into the target lane.
2. Engage the appropriate turn signal, keeping your hands on the steering wheelsteering yoke.
3. If needed, cancel the turn signal once you are in the target lane.
NOTE: Auto Lane Change cancels if the lane change cannot be completed in five seconds.
NOTE: The minimum speed at which Auto Lane Change operates may vary depending on region, adjacent lane speeds, and
other factors. Always be ready to manually steer and change lanes as necessary.
Auto Lane Change assists in moving moves Model SModel X into the adjacent lane in the direction indicated by the turn signal,
provided the following conditions are met:
• The turn signal is engaged.
• Auto Lane Change detected your hands on the steering wheelsteering yoke.
• Model SModel X does not detect a vehicle in its blind spot, or a vehicle or obstacle up to the center of the target lane.
• Lane markings indicate that a lane change is permitted.
• Midway through the lane change, Model SModel X must detect the target lane's outside lane marking. If this lane marking
is not detected, the lane change is aborted and Model SModel X returns to its original driving lane.
• The view of the camera(s) is not obstructed.
When an automatic lane change is in progress, Overtake Acceleration is activated, allowing Model SModel X to accelerate
closer to a vehicle in front (see Overtake Acceleration on page 305).
NOTE: Auto Lane Change assists in movingmoves Model SModel X one lane at a time. Moving into an additional lane requires
you to engage the turn signal a second time after the first lane change is complete.
When using Auto Lane Change, it is important to monitor its performance by watching the driving path in front of you and the
surrounding area. Stay prepared to take over steering at any time. As you are crossing over into the adjacent lane, the
instrument panel displays the location in the lane that Model SModel X is moving into.
In situations where Auto Lane Change is unable to operate at optimal performance, or cannot operate due to inadequate data,
the instrument panel displays a series of warnings. Therefore, when using Auto Lane Change, always pay attention to the
instrument panel and be prepared to manually steer Model SModel X.

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Adjacent Lane Speed

When moving significantly faster than vehicles in adjacent lanes, Model SModel X automatically reduces the driving speed.
This is especially helpful in heavy traffic situations or when vehicles are constantly merging into different lanes. When
Model SModel X detects other vehicles driving significantly slower, the instrument panel highlights the adjacent lanes with
arrows and detected vehicles in gray, and Model SModel X reduces the driving speed as appropriate. To temporarily override
this feature, press the accelerator pedal.
WARNING: Never depend on Autopilot to determine a safe driving speed; you are responsible for driving safely and
according to traffic laws in your market region.
Stop Light and Stop Sign Warning
While Autosteer is in use, Model SModel X displays a warning on the instrument panel and sounds a chime if it detects that
you are likely to run through a red stop light or stop sign. If this happens, TAKE IMMEDIATE CORRECTIVE ACTION!
The visual and audible warnings cancel after a few seconds, or when you press the brake pedal, whichever comes first.
Stop Light and Stop Sign Warning provides warnings only. It does not slow down or stop Model SModel X at red traffic lights,
stop signs, road markings, etc. If equipped with Traffic Light and Stop Sign Control, you can enable this feature to
automatically stop Model SModel X at traffic lights and stop signs (see Traffic Light and Stop Sign Control on page 320).
CAUTION: 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 SModel X 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).
Limitations
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.
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• 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 SModel X 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 assist in steering Model SModel X appropriately. Always drive
attentively and be prepared to take immediate action.

Navigate on Autopilot
NOTE: Navigate on Autopilot is a BETA feature.
When using Autosteer on a controlled-access highway (a main highway on which road users enter and exit using on-ramps
and off-ramps). Navigate on Autopilot guides Model SModel X to off-ramps and interchanges based on your navigation route.
Along the highway portion of a navigation route, Navigate on Autopilot also changes lanes to prepare for exits (route-based
lane changes) and to minimize the driving time to your destination (speed-based lane changes).
WARNING: Navigate on Autopilot does not make driving autonomous. You must pay attention to the road, keep your
hands on the steering wheelsteering yoke 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 on-ramps 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.
Enabling and Customizing Navigate on Autopilot
To enable Navigate on Autopilot, touch Controls > Autopilot > Autopilot Features > Autosteer > Navigate on Autopilot (Beta).
Then, to customize how you want Navigate on Autopilot to operate, touch Customize Navigate on Autopilot:
• Enable At Start Of Every Trip: Choose whether or not you want to automatically enable Navigate on Autopilot for every
navigation route. When enabled, the Navigate on Autopilot button on the turn-by-turn direction list is already enabled at
the start of every trip.
• Speed Based Lane Changes: Navigate on Autopilot is designed to perform both route-based and speed-based lane
changes. Route-based lane changes are designed to keep you on your navigation route (for example, moving you into an
adjacent lane to prepare for an upcoming off-ramp) whereas speed-based lane changes are designed to maintain a driving
speed (not to exceed your cruising speed) that allows you to minimize the time it takes to reach your destination (for
example, moving into an adjacent lane to pass a vehicle in front of you). Speed-based lanes changes are optional. You can
use this setting to disable speed-based lane changes or to specify how aggressively you want Navigate on Autopilot to
change lanes to achieve the set cruising speed. The Mild setting is more conservative about lane changes and may result in
a slightly longer driving time whereas Mad Max is designed to allow you to reach your destination in the shortest driving
time possible, but changes lanes only when safe to do so.
• Exit Passing Lane: Choose whether you want Navigate on Autopilot to maneuver out of a passing lane when navigating to a
destination.
NOTE: In addition to route-based and speed-based lane changes, Navigate on Autopilot requests a lane change out of a
passing lane as a reminder to stay in a slower lane when you are not passing other vehicles. Choose NO to disable this and
keep Model SModel X in a passing lane except when needed to stay on the navigation route.

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• Require Lane Change Confirmation: By default, Navigate on Autopilot requires your confirmation before proceeding with a
lane change by pulling the Autopilot stalk toward you or engaging the appropriate turn signal. However, if you want
Navigate on Autopilot to change lanes without requiring this confirmation, turn this setting off. When you turn the setting
off, you can specify if or how you want to be notified of lane changes (Off, Chime, Vibrate, or Both).
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 SModel X 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.
NOTE: The touchscreen displays route-based lane changes at the top of the map's turn-by-turn direction list to notify you that
an upcoming lane change is needed to stay on the navigation route.
Operating Navigate on Autopilot
Once enabled, the Navigate on Autopilot button appears on the map’s turn-by-turn direction list whenever a navigation route
is active and the route includes at least one controlled-access highway. When enabled, the Navigate on Autopilot button is
blue and the turn-by-turn direction displays the Autosteer icon next to the maneuvers (such as off-ramps) that Navigate on
Autopilot will handle.
The Navigate on Autopilot icon shows in the turn-by-turn direction list when you are navigating to a destination
and Navigate on Autopilot is available but not active.

If Navigate on Autopilot is active, the icon is blue. If Enable at Start of Every Trip is turned on, the Navigate on
Autopilot icon is selected whenever you start navigation. Touch the icon to cancel Navigate on Autopilot and
revert to Autosteer. If Enable At Start Of Every Trip is turned off, you must touch the Navigate on Autopilot
button to enable it for each navigation route.

Navigate on Autopilot activates and deactivates as appropriate, based on the type of road you are driving on. For example, if
Autosteer is active and Navigate on Autopilot is enabled, Navigate on Autopilot automatically becomes active when you reach
a controlled-access highway on your navigation route.
Whenever Navigate on Autopilot is active, the instrument panel displays the driving lane as a single blue line in front of
Model SModel X:

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When Navigate on Autopilot is active and you approach an off-ramp or interchange along your navigation route, the
appropriate turn signal engages and Autosteer maneuvers Model SModel X onto the off-ramp or interchange.
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.
When you leave a controlled-access highway (for example, you take an exit or you enter a section of the navigation route that
is no longer supported), Navigate on Autopilot reverts to Autosteer— a chime sounds and the instrument panel displays the
driving lane lines in blue (instead of the single blue in front of Model SModel X).
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 368). 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.
WARNING: When Navigate on Autopilot deactivates, Autosteer remains active. Always be prepared to take appropriate
action.
WARNING: 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.
You can cancel Navigate on Autopilot at any time by touching Navigate on Autopilot on the map’s turn-by-turn direction list
(Model SModel X reverts to Autosteer), or by canceling Autosteer entirely (see Canceling Autosteer on page 313).
Lane Changes

Navigate on Autopilot changes lanes to either prepare Model SModel X for an upcoming off-ramp, to increase your driving
speed (not to exceed your set cruising speed), or to move Model SModel X out of a passing lane when you are not actively
passing other road users. A message displays at the top of the map's turn-by-turn direction list to notify you when an
upcoming lane change is required to stay on your navigation route. The instrument panel displays the upcoming driving path:

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When the instrument panel displays a message asking you to confirm the lane change, engage the appropriate turn signalor
pull the Autopilot stalk toward you. If you do not confirm the lane change within three seconds, a chime sounds to remind you
that Navigate on Autopilot requires your confirmation to change lanes.
If Require Lane Change Confirmation is turned off, Navigate on Autopilot engages the appropriate turn signal, checks for
vehicles and objects, and when appropriate, maneuvers Model SModel X into the adjacent lane.
If Require Lane Change Confirmation is turned on, you must engage the appropriate turn signal or pull the Autopilot stalk
toward you to confirm that you want Navigate on Autopilot to proceed with the lane change. If you do not confirm the lane
change within three seconds, a chime sounds to remind you that Navigate on Autopilot requires your confirmation to change
lanes.
NOTE: If you ignore a route-based lane change suggestion (for example, you are driving in the left lane while approaching an
off-ramp on the right side of the highway), Navigate on Autopilot is unable to maneuver onto the off-ramp and as a result, you
are re-routed to your destination.
WARNING: 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.
Be Ready to Assist

When attempting to change lanes or maneuver Model SModel X, or when approaching construction zones, Navigate on
Autopilot may be unable to determine the appropriate driving lane (for example, complex clover leafs and multi-lane offramps) and the instrument panel displays an alert indicating that Navigate on Autopilot is trying to maneuver and may require
assistance. When you see the message, be prepared to take immediate action to ensure that it is safe and appropriate to
complete the lane change or maneuver.

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Traffic Light and Stop Sign Control
NOTE: Traffic Light and Stop Sign Control is a BETA feature and works best on roads that are frequently driven by Tesla vehicles.
Traffic Light and Stop Sign Control attempts to stop at all traffic lights and may also stop at green lights.
Traffic Light and Stop Sign Control is designed to recognize and respond to traffic lights and stop signs, slowing
Model SModel X to a stop when using Traffic-Aware cruise control or Autosteer. This feature uses the vehicle's forward-facing
cameras, in addition to GPS data, and slows the car for all detected traffic lights, including green, blinking yellow, and off
lights in addition to stop signs and some road markings. As Model SModel X approaches an intersection, the instrument
cluster displays a notification indicating the intention to slow down. You must confirm that you want to continue or
Model SModel X stops at the red line displayed on the instrument cluster's driving visualization.
WARNING: NEVER make assumptions and predict when and where Traffic Light and Stop Sign Control will stop or
continue through an intersection or road marking. From a driver's perspective, the behavior of Traffic Light and Stop
Sign Control may appear inconsistent. Always pay attention to the roadway and be prepared to take immediate action. It
is the driver's responsibility to determine whether to stop or continue through an intersection. Never depend on Traffic
Light and Stop Sign Control to determine when it is safe and/or appropriate to stop or continue through an intersection.
Before Using
Before using Traffic Light and Stop Sign Control, you must:
• Ensure that forward-facing cameras are unobstructed (see Cleaning a Camera on page 446) and calibrated (see
#unique_484 on page ). Traffic Light and Stop Sign Control depends on the ability of the cameras to detect traffic
lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model SModel X. Although Traffic Light and Stop Sign
Control primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using the most
recent map data. To check which version of maps is currently downloaded, touch Controls > Software. You must connect to
a Wi-Fi network to receive updated maps (see Map Updates on page 374).
• Enable the feature. With the vehicle in Park, touch Controls > Autopilot > Traffic Light and Stop Sign Control. Once enabled,
Traffic Light and Stop Sign Control operates whenever Traffic-Aware Cruise Control or Autosteer is active.
How it Works
When Traffic Light and Stop Sign Control is enabled and you are using Autosteer, Traffic-Aware Cruise Control, or Full SelfDriving (Supervised), the instrument cluster displays a popup message to inform you that an upcoming traffic light, stop sign,
or road marking has been detected. As it approaches the stop location, even at an intersection where the traffic light is green,
Model SModel X slows down and displays a red line to indicate where Model SModel X will stop. To continue through the
intersection—even if the traffic light is green —you must pull the Autopilot stalk toward you or briefly press the accelerator
pedal to give the vehicle permission to proceed. When you've confirmed that you want to proceed, the red stop line turns gray
and Model SModel X continues through the intersection and resumes your set cruising speed.
NOTE: If Model SModel X is approaching a green light and detects that a vehicle in front of you is continuing through the
intersection, Model SModel X continues through the intersection without requiring your confirmation, provided you are not in
a turning lane and the vehicle can detect that your hands are on the steering wheelsteering yoke.
NOTE: If, after you pull the Autopilot stalk toward you or briefly press the accelerator pedal to confirm that you want to
continue through the intersection, the traffic signal changes before you enter the intersection (for example, the light changes
from green to yellow or from yellow to red), Model SModel X may determine that it is not appropriate to proceed. Therefore,
Model SModel X stops and you must press the accelerator to proceed. At all times, it is your responsibility to ensure the
vehicle stops or accelerates appropriately and safely.
WARNING: Traffic Light and Stop Sign Control DOES NOT turn Model SModel X through an intersection unless Full
Self-Driving (Supervised) is engaged. When in a turning lane, Model SModel X stops at the red stop line. To proceed,
pull the Autopilot stalk toward you or briefly press the accelerator pedal—Model SModel X continues straight through
the intersection (even when in a turning lane), so you MUST manually steer Model SModel X through the intersection
(which cancels Autosteer).
Traffic Light and Stop Sign Control is designed to operate as described only when the following conditions are met:
• Autosteer, Full Self-Driving (Supervised), or Traffic-Aware Cruise Control is engaged.

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• The cameras can detect an upcoming traffic light, stop sign or road marking (for example, cameras are unobstructed and
have a clear line-of-sight to the traffic light, stop sign, or road marking).
• The instrument cluster on Model SModel X is displaying an upcoming traffic light in "bold" format. Model SModel X does
not acknowledge traffic lights that the instrument cluster shows as faded. If a traffic light is not directly ahead of the
camera (for example, it is located at an angle of the camera's view, or located in an adjacent lane) the instrument cluster
displays it as faded and Model SModel X does not slow down and stop for it.
WARNING: If the instrument cluster is not displaying a red stop line at an upcoming intersection, Model SModel X does
not slow down or stop. It is the driver's responsibility to pay attention to upcoming intersections and monitor traffic
conditions to determine when and if the vehicle should stop and then to take appropriate action as needed.
WARNING: Never depend on Traffic Light and Stop Sign Control to determine whether to stop at, or proceed through, an
intersection. Drive attentively by watching the road and paying attention to the roadway, upcoming intersections, traffic
conditions, crosswalks, and other road users. It is always the driver's responsibility to determine whether to stop or
proceed. Be prepared to take immediate action. Failure to do so can result in injury or death.
WARNING: In some situations, Traffic Light and Stop Sign Control may inaccurately detect a traffic light or stop sign,
causing Model SModel X to slow down unexpectedly. Be prepared to take immediate action at all times.
WARNING: You must pull the Autopilot stalk toward you or briefly press the accelerator pedal to confirm that you want
to proceed through an intersection, regardless of the status of the traffic light. If you do not confirm, Model SModel X
stops at the red stop line displayed on the instrument cluster, even if stopping may be inappropriate. Stopping at a
green light may confuse other drivers and may result in a collision, injury or death. Therefore, always pay attention to
upcoming intersections and be prepared to manually brake or accelerate in response to surroundings.
WARNING: Never assume that your ability to see a traffic light, stop sign, or road marking (especially at a complex
intersection, or an intersection in which a traffic light or sign is partially obstructed, etc.) means that Model SModel X
can also see it and respond appropriately.
WARNING: Even the most recent map data does not include all traffic lights and stop signs. Therefore, Traffic Light and
Stop Sign Control relies heavily on the ability of the cameras to detect traffic lights, stop signs, road markings, etc. As a
result, Model SModel X may ignore an intersection that is blocked from the camera's view (for example, obstructed by a
tree or a large vehicle or object, or located near a steep hill or sharp curve).
WARNING: Traffic Light and Stop Sign Control is not a substitute for attentive driving and sound judgment.

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Traffic Lights

When driving with Autosteer or Traffic-Aware Cruise Control engaged, and Traffic Light and Stop Sign Control enabled,
Model SModel X is designed to respond as follows when approaching intersections controlled by a traffic light:
Type of Traffic Light

Vehicle Intended Response
At a solid green traffic light, or at a traffic light that is currently off (not illuminated),
Model SModel X slows down.
If you are following a car in front of you that continues through the intersection, the
instrument cluster displays a green stop line and provided your hands are detected on the
steering wheelsteering yoke, Model SModel X also continues. If a car is not in front of
you, the instrument cluster displays a red stop line and you must confirm that you want to
continue through the intersection by pulling the Autopilot stalk toward you or briefly
pressing the accelerator pedal. If you don’t confirm, Model SModel X stops at the red
stop line.
NOTE: Model SModel X resumes the set cruising speed when it continues through the
intersection, taking into consideration the speed of a vehicle in front of you.

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

Model SModel X slows down and comes to a complete stop at the red stop line displayed
on the instrument cluster. When you want to proceed through the intersection (for
example, the light turns green again), you must pull the Autopilot stalk toward you or
briefly press the accelerator pedal.
NOTE: If the traffic light changes after you've confirmed that you want to proceed (for
example, a green traffic light turns yellow), Model SModel X may stop instead of
continuing, especially if Model SModel X determines that it can safely stop before
entering the intersection.
NOTE: Model SModel X is not designed to proceed through an intersection when the
traffic light is red or if the light turns yellow in situations when there is adequate distance
to safely stop before entering the intersection.
NOTE: You can take over driving at any time by manually braking to cancel Autosteer or
Traffic-Aware Cruise Control.

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Type of Traffic Light

Vehicle Intended Response

Model SModel X slows down. To proceed, you must pull the Autopilot stalk toward you or
briefly press the accelerator pedal. If you don’t, Model SModel X stops at the red stop line
displayed on the instrument cluster.
NOTE: To prevent Model SModel X from stopping, and to minimize how much it slows
down as it approaches, you can confirm that you want to proceed by pulling the Autopilot
stalk toward you or briefly pressing the accelerator pedal at any time after the instrument
cluster displays the red stop line. Model SModel X resumes your set cruising speed
immediately after you confirm (taking into consideration the speed of a vehicle in front of
you).
WARNING: Approach attentively and be prepared to press the brake pedal to slow
down or stop.

Model SModel X slows down and comes to a complete stop at the red stop line displayed
on the instrument cluster. When you want to proceed through the intersection (for
example, traffic laws and conditions indicate it is safe and legal to proceed), you must pull
the Autopilot stalk toward you or briefly press the accelerator pedal.

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Stop Signs and Road Markings

When driving with Autosteer or Traffic-Aware Cruise Control engaged, and Traffic Light and Stop Sign Control enabled,
Model SModel X is designed to respond as follows when approaching intersections controlled by stop signs, stop lines, or
road markings:
Type of Intersection

Vehicle Intended Response
Model SModel X assumes the right of way and continues straight without slowing down or
stopping.

No Traffic Control

Arm of T-junction
If Model SModel X detects a T-junction based on the map data, Model SModel X slows down
and comes to a complete stop at the red stop line displayed on the instrument cluster. When
you want to proceed, you must take over steering and acceleration.
WARNING: Model SModel X may not stop at a T-junction that does not have a stop sign
or stop line, or if the T-junction is not included in the map data. Drive attentively and be
prepared to stop (when necessary and/or appropriate).

End of T-junction
Model SModel X slows down and comes to a complete stop at the red stop line displayed on
the instrument cluster. When you want to proceed through the intersection, you must pull the
Autopilot stalk toward you or briefly press the accelerator pedal.
NOTE: If you confirm that you want to proceed through an intersection controlled by a stop
sign by pulling the Autopilot stalk toward you or briefly pressing the accelerator pedal before
Model SModel X has stopped, your confirmation is ignored. Model SModel X is not designed
to proceed through a stop sign without stopping.
NOTE: Even when using Autosteer, and even if you have engaged a turn signal, you must turn
the steering wheelsteering yoke yourself (which cancels Autosteer) to complete a turn at an
intersection.
Stop Sign

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Type of Intersection

Vehicle Intended Response

Stop Sign and Road Marking

Road Marking
WARNING: Model SModel X also slows down and stops at a roundabout. You must take over steering (which cancels
Autosteer) and pull the Autopilot stalk toward you or briefly press the accelerator pedal to confirm that you want to
continue through the roundabout.
WARNING: At crosswalks, Model SModel X may slow down and may stop, depending on whether the crosswalk is
controlled by a traffic light and whether the cameras detect pedestrians, bicyclists, etc. in the crosswalk. Pay particular
attention at crosswalks and be prepared to take over at any time. Failure to do so can result in injury or death.
Limitations
Depending on many different circumstances and environmental conditions, Traffic Light and Stop Sign Control may or may not
stop at:
• Railroad crossings.
• Keep-out zones.
• Toll booths.
• Crosswalk systems.
• Yield signs or temporary traffic lights and stop signs (such as at construction areas).
• Miscellaneous traffic U-turn lights, bicycle and pedestrian crossing lights, lane availability lights, etc.
In addition, Traffic Light and Stop Sign Control is particularly unlikely to operate as intended, can disengage, or may not
operate, when one or more of the following conditions are present:
• Driving through consecutive light-controlled intersections that are very close to each other.
• Visibility is poor (heavy rain, snow, fog, etc.) or weather conditions are interfering with camera or sensor operation.
• Bright light (such as direct sunlight) is interfering with the view of the camera(s).
• A camera is obstructed, covered, damaged, or not properly calibrated.

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• Driving on a hill or on a road that has sharp curves on which the cameras are unable to see upcoming traffic lights or stop
signs.
• A traffic light, stop sign, or road marking is obstructed (for example, a tree, a large vehicle, etc.).
• Model SModel X is being driven very close to a vehicle in front of it, which is blocking the view of a camera.
WARNING: The limitations listed above are not an exhaustive list of reasons why Model SModel X may not operate as
expected. Many unforeseen circumstances can adversely impact the accurate operation of Traffic Light and Stop Sign
Control. Using this feature does not reduce or eliminate the need to drive attentively and responsibly. You must be
prepared to take appropriate and immediate action at all times.

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Autopark
Autopark uses data from the cameras and ultrasonic sensors and GPS to simplify parking on public roads by maneuvering
Model SModel X into parallel and perpendicular parking spaces. See To Use Autopark on page 327.
CAUTION: Ensure all cameras and sensors are clean. Dirty cameras and sensors, as well as environmental conditions