such as rain and faded lane markings, can affect Autopilot performance.
WARNING: Autopark's performance depends on the ability of the cameras and ultrasonic sensors to determine the
vehicle's proximity to curbs, objects, and other vehicles.
WARNING: Do not use Autopark if anything, such as a ball hitch, bike rack, or trailer, is attached to the tow hitch.
Autopark may not stop for hitches when parking between or in front of other vehicles.
To Use Autopark
When driving, follow these steps to allow Autopark to maneuver Model SModel X into a parking space:
1. When driving slowly on a public road, monitor the instrument panel to determine when Autopark has detected a parking
space. When Autopark detects a potential parking space, the instrument panel displays a parking icon. Autopark detects
parallel parking locations when driving below 15 mph (24 km/h) and perpendicular parking locations when driving below 10
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NOTE: The parking icon appears only if the vehicle's position and/or the circumstances of the surrounding area are such
that Autopark can determine an appropriate driving path. If Autopark cannot determine an appropriate path (for example,
when driving on a narrow street where moving into the parking space causes the front of the vehicle to extend into the
adjacent lane), you can either reposition the vehicle, find a different parking space, or park manually.
NOTE: If the Autopark icon does not appear for potential parking spaces when driving at the indicated speed, it is possible
that Autopark is calibrating. Autopark requires a calibration process when Model SModel X is new, or when tires have
recently been changed (see Calibration on page 329).
2. Check to determine if the detected parking space is appropriate and safe. If so, pull forward and stop approximately one
car length ahead of the parking space (as you normally would when parallel parking or when backing into a perpendicular
parking space).
3. Release the steering wheelsteering yoke, shift Model SModel X into Reverse, then touch Start Autopark on the
touchscreen.
4. Release the steering yoke then touch and hold Autopark in the drive mode strip on the touchscreen. You can release the
button once Autopark engages.
5. When parking is complete, Autopark displays the "Complete" message.
Autopark detects potential perpendicular parking spaces that are at least 9.5 feet (2.9 meters) wide with a vehicle parked on
each side. Autopark detects parallel parking spaces that are at least 20 feet (6 meters), but less than 49 feet (15 meters) long.
Autopark does not operate on angled parking spaces.
Autopark detects potential perpendicular parking spaces that are at least 7.2 feet (2.2 meters) wide and parallel spaces with a
visible vehicle in front of the space and a curb (must be at least 3 feet (1 meter) longer than vehicle length). Autopark does not
operate on angled parking spaces.
Autopark detects potential perpendicular parking spaces that are at least 7.2 feet (2.2 meters) wide and parallel spaces with a
visible vehicle in front of the space and a curb (must be at least 3 feet (1 meter) longer than vehicle length). Autopark does not
operate on angled parking spaces.
NOTE: If you press the brake pedal when Autopark is actively parking Model SModel X, the parking process pauses until you
touch Resume on the touchscreen.

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WARNING: Never depend on Autopark to find a parking space that is legal, suitable, and safe. Autopark may not always
detect objects in the parking space. Always perform visual checks to confirm that a parking space is appropriate and
safe.
WARNING: When Autopark is actively steering Model SModel X, the steering wheelsteering yoke moves in accordance
with Autopark's adjustments. Do not interfere with the movement of the steering wheelsteering yoke. Doing so cancels
Autopark.
WARNING: During the parking sequence, continually check your surroundings. Be prepared to apply the brakes to avoid
vehicles, pedestrians, or objects.
WARNING: When Autopark is active, monitor the touchscreen and instrument panel to ensure that you are aware of the
instructions that Autopark is providing.
Calibration
During a parking sequence, Autopark must maneuver Model SModel X with a great deal of precision. Therefore, before it can
be used, Autopark must complete a calibration process. Calibration can take anywhere from 30 minutes to several days,
depending on driving behavior. When Autopark is calibrating, a note displays on the Autopilot settings screen indicating that
calibration is in progress. When calibration is complete, this note no longer displays and Autopark is available for use.
NOTE: Autopark repeats the calibration process whenever tires are changed.
To Pause Parking
To pause Autopark, press the brake pedal once. Model SModel X stops and remains stopped until you touch Resume on the
touchscreen.
To Cancel Parking
Autopark cancels the parking sequence when you manually move the steering wheelsteering yoke, shift, or touch Cancel on
the touchscreen. Autopark also cancels parking when:
• The parking sequence exceeds seven moves.
• Model SModel X detects that the driver is exiting the vehicle.
• A door is opened.
• You press the accelerator pedal.
• You press the brake pedal while Autopark is paused.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 340).
Limitations
Autopark is particularly unlikely to operate as intended in these situations:
• The road is sloped. Autopark is designed to operate on flat roads only.
• Visibility is poor (due to heavy rain, snow, fog, etc.).
• The curb is constructed of material other than stone, or the curb cannot be detected.
• The target parking space is directly adjacent to a wall or pillar (for example, the last parking space of a row in an
underground parking structure).
• One or more of the ultrasonic sensors is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a vehicle bra,
excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors are affected by other electrical equipment or devices that generate ultrasonic waves.
WARNING: Many unforeseen circumstances can impair Autopark's ability to park Model SModel X. Keep this in mind and
remember that as a result, Autopark may not steer Model SModel X appropriately. Pay attention when parking
Model SModel X and stay prepared to immediately take control.

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Summon
Summon allows you to automatically park and retrieve Model SModel X while you are standing outside the vehicle. Summon
moves Model SModel X forward and reverse up to 39 ft. (12 meters) in, or out of, a parking space.
To move Model SModel X a longer distance while steering around objects, you can use Smart Summon and your mobile phone.
Smart Summon allows your vehicle to find you (or you can send your vehicle to a chosen location). See Smart Summon on
page 333.
To move Model SModel X, your phone must be paired via Bluetooth (see Pairing a Phone or Bluetooth Device on page 731).
Summon requires that Model SModel X can detect a valid key nearby.
CAUTION: Ensure all cameras and sensors (if equipped) are clean. Dirty cameras and sensors, as well as environmental
conditions such as rain and faded lane markings, can affect Autopilot performance.
WARNING: Summon is designed and intended for use only on parking lots and driveways on private property where the
surrounding area is familiar and predictable.
WARNING: Summon is a BETA feature. You must continually monitor the vehicle and its surroundings and stay prepared
to take immediate action at any time. It is the driver's responsibility to use Summon safely, responsibly, and as intended.
WARNING: Summon's performance depends on the ability of the cameras and sensors (if equipped) to determine the
vehicle's proximity to objects, people, animals, and other vehicles.
Before Using Summon
Before operating Summon, use the touchscreen to enable it and customize how you want it to work. Touch Controls >
Autopilot > Customize Summon and adjust the following settings to suit your preferences:
• Bumper Clearance: Set the distance that you want Summon to stop from a detected object (for example, you may want
Summon to stop within just a few inches of a garage wall). Note that this distance applies only to objects that Summon
detects directly in front of Model SModel X when moving forward, or directly behind Model SModel X when reversing.
• Summon Distance: Set a maximum distance that Model SModel X can travel when entering or exiting a parking space.
• Side Clearance: Choose an option to specify how much side clearance you want to allow. Tight allows Model SModel X to
enter and exit very narrow parking spaces.
WARNING: Parking in a narrow space limits the ability of the cameras and sensors (if equipped) to accurately detect
the location of obstacles, increasing the risk of damage to Model SModel X and/or surrounding objects.
• Require Continuous Press: By default, Summon requires that you press and hold a button on the mobile app to move
Model SModel X during the parking process. When Require Continuous Press is set to No, you can press and release the
button—you don't need to hold it down to keep the vehicle moving. Also, when Require Continuous Press is set to No, you
can operate Summon using the key fob instead of the mobile app (see Operating Summon with the Key Fob on page 331)
and you can start a parking sequence from inside the vehicle (see Starting Summon Before Exiting the Vehicle on page
332).
• Use Auto HomeLink (if equipped): Set to ON if you want to activate HomeLink to open/close a programmed HomeLink
device (such as a gate or a garage door) during the parking process when using Summon. If enabled, the device
automatically opens and closes when Model SModel X enters or exits during a Summon session. In a Smart Summon
session, the device automatically opens when, at the beginning of a session, Smart Summon detects that Model SModel X
is parked in a garage.
WARNING: Always ensure that Model SModel X is fully in or out of a garage before HomeLink lowers the garage door.
Summon and Smart Summon cannot detect where an overhead door will lower.
NOTE: When enabled, the HomeLink device automatically opens and closes when using Summon, and automatically opens
as needed when using Smart Summon. To automate HomeLink in other situations (such as normal driving), you must adjust
the HomeLink device's main settings by touching the HomeLink icon at the top of the touchscreen (see HomeLink Universal
Transceiver on page 400).
NOTE: The above settings, with the exception of HomeLink, apply only to Summon—not Smart Summon (see Before Using
Smart Summon on page 333). You cannot customize Smart Summon's bumper clearance, distance, and side clearance. And
when using Smart Summon, you must always hold down the button on the mobile app to keep Model SModel X moving. Also,
Smart Summon operates with the mobile app only—not the key fob.
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NOTE: All settings are retained until you manually change them.
Using Summon to Park and Retrieve your Vehicle
Follow these steps to use Summon to park your Model SModel X:
• Align Model SModel X within 39 ft. (12 meters) of the parking space so Model SModel X can follow a straight path into or
out of the space in either Drive or Reverse.
• Ensure Model SModel X key fob is in close range.
• Pair your phone with Model SModel X via Bluetooth (see Pairing a Phone or Bluetooth Device on page 731). After you pair
once, your phone automatically connects to Model SModel X every time. Your phone must be within approximately six
meters of the vehicle for Summon to work.
• From outside the vehicle, initiate the parking maneuver by touching Summon on the mobile app, then holding down the
Forward or Reverse button.
NOTE: If the Require Continuous Press setting is No, you do not need to hold down the button, just press and release.
NOTE: You can also initiate the parking maneuver from inside the vehicle (see Starting Summon Before Exiting the Vehicle
on page 332).f
Summon shifts Model SModel X into Drive or Reverse (based on the direction you specified) and drives into or out of the
parking space. When parking is complete, or if an obstacle is detected, Summon shifts Model SModel X into Park. Summon
shifts Model SModel X into Park when:
• Model SModel X detects an obstacle in its driving path (within the Bumper Clearance setting that you specified).
• Summon has moved Model SModel X the maximum distance of 39 ft. (12 meters).
• You release the Forward or Reverse button (when Require Continuous Press is turned on).
• You press any button to manually stop Summon.
If you used Summon to park Model SModel X, you can then use Summon to return Model SModel X back to its original
position (provided Model SModel X has remained in Park), or to the maximum Summon Distance that you have specified
(whichever comes first). Simply specify the opposite direction on the mobile app and Summon moves Model SModel X along
the original path, provided no obstructions have been introduced. If an obstacle is detected, Model SModel X attempts to
avoid the obstacle while staying very close to its original path (Summon does not steer around obstacles).
NOTE: To use Summon to move Model SModel X multiple times in the same direction (not to exceed the maximum of 39 ft. (12
meters), cancel Summon and then restart the parking process using the same direction.
NOTE: Although Summon can move Model SModel X a short distance laterally to avoid an obstacle, it does not attempt to
steer around an obstacle to return Model SModel X to its original driving path. Only Smart Summon can steer Model SModel X
around objects.
NOTE: Summon requires that Model SModel X can detect a valid key nearby.
WARNING: Model SModel X cannot detect obstacles that are located lower than the bumper, are very narrow, or are
hanging from a ceiling (for example, bicycles). In addition, many unforeseen circumstances can impair Summon's ability
to move in or out of a parking space and, as a result, Summon may not move Model SModel X appropriately. Therefore,
you must continually monitor the vehicle's movement and its surroundings and remain prepared to stop Model SModel X
at any time.
Operating Summon with the Key Fob

NOTE: Summon may not operate if the battery is low on the key fob.
Follow these steps to park Model SModel X from outside the vehicle using the key fob:
1. On the touchscreen, ensure that Require Continuous Press is disabled (touch Controls > Autopilot > Customize Summon >
Require Continuous Press).
2. With Model SModel X in Park, stand within 10 ft. (three meters) and press and hold the top center button on the key fob
(Lock/Unlock All button) until the hazard lights blink continuously.

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NOTE: The hazard lights flash once as Model SModel X locks, then within five seconds, Model SModel X powers on and the
hazard lights flash continuously. Do not proceed to the next step until the hazard lights are flashing. If, after five seconds,
the hazard lights are not flashing, release the button on the key fob, move closer to Model SModel X, and try again. If
Summon receives no further input within ten seconds, Summon cancels.
3. Press the Front Trunk button on the key fob to move Model SModel X forward into the parking space, or press the Rear
Trunk button to reverse Model SModel X into the parking space.
Starting Summon Before Exiting the Vehicle

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

Stop Model SModel X at any time while Summon is active by using the mobile app or by pressing any button on the key fob.
Summon also cancels when:
• A door handle is engaged or a door is opened.
• You interact with the steering wheelsteering yoke, brake pedal, accelerator pedal, or shift.
• Model SModel X detects an obstacle.
• Summon has moved Model SModel X the maximum distance of approximately 39 ft. (12 meters).
• Your phone enters sleep mode or loses connectivity to Model SModel X.
Limitations
Summon is unlikely to operate as intended in the following types of situations:
• The driving path is sloped. Summon is designed to operate on flat roads only (up to 10% grade).
• A raised concrete edge is detected. Summon does not move Model SModel X over an edge that is higher than
approximately 1 in (2.5 cm).
• One or more of the sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a
vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• Model SModel X is in Trailer Mode or an accessory is attached.
NOTE: Summon is disabled if Model SModel X is in Valet mode (see Valet Mode on page 183).
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of
Summon. It is the driver's responsibility to remain in control of Model SModel X at all times. Pay close attention
whenever Summon is actively moving Model SModel X and stay prepared to take immediate action. Failure to do so can
result in serious property damage, injury or death.

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Smart Summon
Smart Summon is designed to allow you to move Model SModel X to your location (using your phone's GPS as a target
destination) or to a location of your choice, maneuvering around and stopping for objects as necessary. Smart Summon works
with the Tesla mobile app when your phone is located within approximately 213 ft. (65 meters) of Model SModel X. Smart
Summon works with the Tesla mobile app when your phone is located within approximately 20 ft. (6 meters) of
Model SModel X.
Smart Summon maneuvers Model SModel X out of parking spaces and around corners. This is useful for moving
Model SModel X out of a tight parking spot, through puddles, or helping you retrieve your car while carrying packages. You
must maintain a clear line of sight between you and Model SModel X and closely monitor the vehicle and its surroundings at all
times.
CAUTION: Ensure all cameras and sensors (if equipped) are clean. Dirty cameras and sensors, as well as environmental
conditions such as rain and faded lane markings, can affect Autopilot performance.
WARNING: Smart Summon is designed and intended for use only on parking lots and driveways located on private
property where the surrounding area is familiar and predictable. Do not use Smart Summon on public roads.
WARNING: Smart Summon must only be used on paved surfaces.
WARNING: Smart Summon is a BETA feature. You must continually monitor the vehicle and its surroundings and stay
prepared to take immediate action at any time. It is the driver's responsibility to use Smart Summon safely, responsibly,
and as intended.
WARNING: Smart Summon may not stop for all objects (especially very low objects such as some curbs, or very high
objects such as a shelf) and may not react to all traffic. Smart Summon does not recognize the direction of traffic, does
not navigate around empty parking spaces, and may not anticipate crossing traffic.
WARNING: Smart Summon's performance depends on the sensors (if equipped), the visibility of the cameras, and the
availability of an adequate cellular signal and GPS data.
WARNING: When using Smart Summon, you must maintain a clear line of sight between you and Model SModel X and
stay prepared to stop the vehicle at any time by releasing the button on the mobile app.
Before Using Smart Summon
• Download the latest version of the Tesla mobile app to your phone, and ensure your phone has cellular service and GPS
enabled.
• Your phone must be connected to Model SModel X and located within approximately 213 ft. (65 meters).
• Your phone must be paired to Model SModel X over Bluetooth (see Pairing a Phone or Bluetooth Device on page 731) and
located within approximately 20 ft. (6 meters).
• The vehicle's cameras must be fully calibrated (see #unique_484 on page ).
• You must have a clear line of sight to Model SModel X.
• Model SModel X must be in Park, not charging, and all doors and trunks must be closed.
Using Smart Summon
1. Open the Tesla mobile app, and press Summon.
2. Press the Smart Summon icon located in the center of the image of your Model SModel X. It may take several seconds for
Smart Summon to start up.
NOTE: You can use Standby Mode to eliminate the delay that occurs when Smart Summon is starting up (see Standby
Mode on page 334).
The mobile app displays a map with a blue circle, which represents the maximum proximity of 213 ft. (65 meters) that you
must maintain between your phone and Model SModel X. The blue dot on the map represents your location, and the red
arrow represents the vehicle.
The mobile app displays a map with a blue circle, which represents the maximum proximity of 20 ft. (6 meters) that you
must maintain between your phone and Model SModel X. The blue dot on the map represents your location, and the red
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3. Position yourself anywhere within the blue circle where you have a clear line of sight to Model SModel X.
4. You can now operate Smart Summon using either of these modes:
◦ Come to Me mode: Press and hold the Come to Me button. Model SModel X moves to your GPS location. As you move,
Model SModel X follows you. When Model SModel X reaches you, it stops and shifts into park.
◦ Go to Target mode: Touch the crosshair icon then drag the map to position the pin on a chosen destination. Press and
hold the Go to Target button. Model SModel X moves to the destination. When reaching the location, Model SModel X
stops and shifts into Park and the mobile app displays a message indicating that Summon has completed.
NOTE: To subsequently change the location, lift your finger, reposition the map, then press and hold Go to Target again.
To stop Model SModel X at any time, simply release the Come to Me or Go to Target button.
The map's crosshair icon toggles between Go to Target and Come to Me modes. When Come to Me mode is
selected, the icon is blue.
NOTE: The map also has an icon that allows you to display/hide satellite imagery.

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

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• Exclude Home - Disables Standby Mode at the location you set as Home in your Favorites list.
• Exclude Work - Disables Standby Mode at the location you set as Work in your Favorites list.
• Exclude Favorites - Disables Standby Mode at any location in your Favorites list.
NOTE: To conserve energy, Smart Summon automatically exits Standby mode from midnight to 6:00 am. During these hours, a
delay occurs as Smart Summon starts up.
NOTE: Additional battery power may be consumed while Standby Mode is active.
NOTE: For details on how to designate a location as Home, Work, or Favorites, see Home, Work, and Favorite Destinations on
page 371.
Stopping or Canceling Smart Summon
Smart Summon stops Model SModel X whenever you release the button on the mobile app. To resume the Smart Summon
session, simply press the Come to Me or Go to Target button again.
WARNING: Always anticipate when you need to stop Model SModel X. Depending on the quality of the connectivity
between the phone and Model SModel X, there may be a slight delay between when you release the button and when
the car stops.
Smart Summon cancels, and requires you to restart it, when:
• You press any button on the key fob.
• A door handle is engaged or a door is opened.
• You interact with the steering wheelsteering yoke, brake pedal, accelerator pedal, or shift.
• Model SModel X is blocked by an obstacle.
• Smart Summon has moved Model SModel X the maximum distance. To move further than this distance, you must shift
Model SModel X into Drive or Reverse and then re-initiate a Smart Summon session.
• Your phone enters sleep mode or loses connectivity to Model SModel X.
Limitations
Smart Summon is unlikely to operate as intended in the following types of situations:
• GPS data is unavailable due to poor cellular coverage.
• The driving path is sloped. Smart Summon is designed to operate on flat roads only (up to 10% grade).
• A raised concrete edge is detected. Depending on the height of the concrete edge, Smart Summon may not move
Model SModel X over it.
• One or more of the sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a
vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor (if equipped)
or camera operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• Model SModel X is in Trailer Mode or an accessory is attached.
NOTE: Smart Summon is disabled if Model SModel X is in Valet mode (see Valet Mode on page 183).
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of
Smart Summon. It is the driver's responsibility to remain in control of Model SModel X at all times. Pay close attention
whenever Smart Summon is actively moving Model SModel X and stay prepared to take immediate action. Failure to do
so can result in serious property damage, injury or death.

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

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CAUTION: Ensure all cameras and sensors are clean. Dirty cameras and sensors, as well as environmental conditions
such as rain and faded lane markings, can affect Autopilot performance.
WARNING: Lane Assist features are for guidance purposes only and is not intended to replace your own direct visual
checks. Before changing lanes, always use side mirrors and perform the appropriate shoulder checks to visually
determine if it is safe and appropriate to change lanes.
WARNING: Never depend on Lane Assist to inform you if you unintentionally drive outside of the driving lane, or to
inform you that there is a vehicle beside you or in your blind spot. Several external factors can reduce the performance
of Lane Assist (see Limitations and Inaccuracies on page 339). It is the driver's responsibility to stay alert and pay
attention to the driving lane and other road users. Failure to do so can result in serious injury or death.
Steering Interventions
Lane Assist provides steering interventions if Model SModel X drifts into (or close to) an adjacent lane in which an object,
such as a vehicle, is detected. In these situations, Model SModel X automatically steers to a safer position in the driving lane.
This steering is applied only when Model SModel X is traveling between 30 and 85 mph (48 and 140 km/h) on major roads
with clearly visible lane markings. When a steering intervention is applied, the instrument panel briefly displays a warning
message.
Lane Departure Warning
Lane Departure Warning alerts you of undesired lane departures by slightly vibrating the steering wheelsteering yoke if a front
wheel passes over a lane marking when the associated turn signal is off. To turn this warning on or off, touch Controls >
Autopilot > Lane Departure Warning. Lane Departure Warning is active only when driving between approximately 40 and 90
mph (64 and 145 km/h).

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Lane Departure Avoidance
Lane Departure Avoidance is designed to warn you if Model SModel X is drifting out of, or nears the edge of, your driving lane.
Lane Departure Avoidance operates when driving between 40 and 90 mph (64 and 145 km/h) on roads with clearly visible lane
markings. You can choose if and how you want Lane Departure Warning to operate by touching Controls > Autopilot > Lane
Departure Avoidance and selecting between these options:
• OFF: You are not warned of lane departures or potential collisions with a vehicle in an adjacent lane.
• WARNING: If a front wheel passes over a lane marking, the steering wheelsteering yoke vibrates.
• ASSIST: Corrective steering is applied to keep Model SModel X in a safe position if Model SModel X drifts into an adjacent
lane or near the edge of the road.
When Lane Departure Avoidance is enabled and Traffic-Aware Cruise Control is active, if Model SModel X drifts out of the
driving lane when the associated turn signal is off, Lane Assist also checks to see whether your hands are on the steering
wheelsteering yoke. If hands are not detected, the instrument panel displays a series of alerts, similar to those that are used
when driving with Autosteer. If hands are repeatedly not detected Model SModel X gradually slows down to 15 mph (25 km/h)
below the detected speed limit, or below the set cruising speed, and the hazard lights start flashing.
NOTE: Lane Departure Avoidance does not warn you of lane departures, or provide steering interventions, if the associated
turn signal is on, which indicates an intentional lane change.
WARNING: Lane Departure Avoidance is intended to help keep you safe, but it does not work in every situation and does
not replace the need to remain attentive and in control.
WARNING: Keep your hands on the steering wheelsteering yoke and drive attentively at all times.
WARNING: Steering interventions are minimal and are not designed to move Model SModel X out of its driving lane. Do
not rely on steering interventions to avoid side collisions.
Emergency Lane Departure Avoidance
Emergency Lane Departure Avoidance automatically applies steering to avoid a potential collision in situations where:
• Model SModel X is departing a lane and may collide with a vehicle traveling in the same direction in the adjacent lane
(regardless of the status of the turn signal).
• Model SModel X is departing a lane into an oncoming lane, the turn signal is off, and an oncoming vehicle is detected.
• Model SModel X is departing the road and the turn signal is off (for example, very close to the edge of the road and a
collision may occur).
To turn this feature on or off, touch Controls > Autopilot > Emergency Lane Departure Avoidance.
When Emergency Lane Departure Avoidance applies steering, a chime sounds and the instrument panel displays a warning and
highlights the lane marking in red.
Emergency Lane Departure Avoidance operates when Model SModel X is traveling between 40 and 90 mph (64 and 145 km/h)
on a road with clearly visible lane markings, curbs, etc.
WARNING: Emergency Lane Departure Avoidance is not a substitute for attentive driving and sound judgment. Keep
your eyes on the road when driving and never depend on Emergency Lane Departure Avoidance to prevent a collision.
Several factors can reduce or impair performance. Depending on Emergency Lane Departure Avoidance to prevent a
potential collision can result in serious injury or death.
Blind Spot Camera and Collision Warning Chime
To display the image from the corresponding side repeater camera whenever you engage a turn signal to change lanes, touch
Controls > Autopilot > Blind Spot Camera.
If you want a chime to sound when a vehicle is in your blind spot and a possible collision is detected, touch Controls >
Autopilot > Blind Spot Collision Warning Chime.
WARNING: Blind Spot Camera does not eliminate the need to drive attentively and manually perform shoulder checks
when changing lanes.
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WARNING: Blind Spot Collision Warning Chime cannot detect every collision. It is the driver's responsibility to remain
alert and perform the appropriate shoulder checks when changing lanes.
Limitations and Inaccuracies
Lane Assist features cannot always detect lane markings and you may experience unnecessary or invalid warnings in these
situations:
• Visibility is poor and lane markings are not clearly visible (due to heavy rain, snow, fog, etc.). The exact detection zone of
the ultrasonic sensors varies depending on environmental conditions.
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• A vehicle in front of Model SModel X is blocking the view of the camera(s).
• The windshield is obstructing the view of the camera(s) (fogged over, dirty, covered by a sticker, etc.).
• Lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction, or are
changing quickly (for example, lanes branching off, crossing over, or merging).
• The road is narrow or winding.
• Objects or landscape features are casting strong shadows on lane markers.
Lane Assist may not provide warnings, or may apply inappropriate warnings, in these situations:
• One or more of the ultrasonic sensors is damaged, dirty, or obstructed (by mud, ice, or snow, or by a vehicle bra, excessive
paint, or adhesive products such as wraps, stickers, rubber coatings, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors are affected by other electrical equipment or devices that generate ultrasonic waves.
• An object that is mounted to Model SModel X is interfering with and/or obstructing a sensor (such as a bike rack or a
bumper sticker).
In addition, Lane Assist may not steer Model SModel X away from an adjacent vehicle, or may apply unnecessary or
inappropriate steering, in these situations:
• You are driving Model SModel X on sharp corners or on a curve at a relatively high speed.
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• You are drifting into another lane but an object (such as a vehicle) is not present.
• A vehicle in another lane cuts in front of you or drifts into your driving lane.
• Model SModel X is not traveling within the speeds at which the Lane Assist feature is designed to operate.
• One or more of the ultrasonic sensors is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a vehicle bra,
excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors are affected by other electrical equipment or devices that generate ultrasonic waves.
• An object mounted to Model SModel X (such as a bike rack or a bumper sticker) is interfering with or obstructing a sensor.
• Visibility is poor and lane markings are not clearly visible (due to heavy rain, snow, fog, etc.).
• Lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction or are
changing quickly (for example, lanes branching off, crossing over, or merging).
WARNING: The lists above do not represent every possible situation that may interfere with Lane Assist features. There
are many reasons why Lane Assist may not operate as intended. To avoid a collision, stay alert and always pay attention
to the road so you can anticipate the need to take corrective action as early as possible.

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Collision Avoidance Assist
If your Model SModel X is equipped with Autopilot components (see About Autopilot on page 286), the following collision
avoidance features are designed to increase the safety of you and your passengers:
The following collision avoidance features are designed to increase the safety of you and your passengers:
• Forward Collision Warning - provides visual and audible warnings in situations when Model SModel X detects that there is a
high risk of a frontal collision (see Forward Collision Warning on page 340).
• Automatic Emergency Braking - automatically applies braking to reduce the impact of a frontal collision (see Automatic
Emergency Braking on page 342).
• Obstacle-Aware Acceleration - reduces acceleration if Model SModel X detects an object in its immediate driving path (see
Obstacle-Aware Acceleration on page 343).
CAUTION: Ensure all cameras and sensors are clean. Dirty cameras and sensors, as well as environmental conditions
such as rain and faded lane markings, can affect performance.
WARNING: Forward Collision Warning is for guidance purposes only and is not a substitute for attentive driving and
sound judgment. Keep your eyes on the road when driving and never depend on Forward Collision Warning to warn you
of a potential collision. Several factors can reduce or impair performance, causing either unnecessary, invalid,
inaccurate, or missed warnings. Depending on Forward Collision Warning to warn you of a potential collision can result
in serious injury or death.
WARNING: Automatic Emergency Braking is not designed to prevent all collisions. In certain situations, it can minimize
the impact of a frontal collision by attempting to reduce your driving speed. Depending on Automatic Emergency
Braking to avoid a collision can result in serious injury or death.
WARNING: Obstacle-Aware Acceleration is not designed to prevent a collision. In certain situations, it can minimize the
impact of a collision. Depending on Obstacle-Aware Acceleration to avoid a collision can result in serious injury or
death.
Forward Collision Warning
Model SModel X monitors the area in front of it for the presence of an object such as a vehicle, motorcycle, bicycle, or
pedestrian. If a collision is considered likely unless you take immediate corrective action, Forward Collision Warning is
designed to sound a chime and highlight the vehicle in front of you in red on the instrument panel. If this happens, TAKE
IMMEDIATE CORRECTIVE ACTION!

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Warnings cancel automatically when the risk of a collision has been reduced (for example, you have decelerated or stopped
Model SModel X, or the object in front of your vehicle has moved out of your driving path).
If immediate action is not taken when Model SModel X issues a Forward Collision Warning, Automatic Emergency Braking (if
enabled) may automatically apply the brakes if a collision is considered imminent (see Automatic Emergency Braking on page
342).
By default, Forward Collision Warning is turned on. To turn it off or adjust its sensitivity, touch Controls > Autopilot > Forward
Collision Warning. Instead of the default warning level of Medium, you can turn the warning Off, or you can choose to be
warned Late or Early.
NOTE: Your chosen setting for Forward Collision Warning is retained until you manually change it.

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WARNING: The camera(s) and sensors associated with Forward Collision Warning are designed to monitor an
approximate area of up to 525 feet (160 meters) in your driving path. The area being monitored by Forward Collision
Warning can be adversely affected by road and weather conditions. Use appropriate caution when driving.