Loss of trailer lights when towing may be the result of a fault in the trailer wiring or excessive power consumption by the lights
connected to the trailer output(s). When this occurs, the touchscreen displays a red Trailer Mode icon. Fix any issues with the
wiring and/or reduce the number of lights connected to the trailer output(s), then turn Trailer Mode off and on to try again.
CAUTION: Always ensure that the trailer's electrical cable does not contact or drag on the ground and there is enough
slack in the cable to allow for turns.
WARNING: Before towing, it is the driver's responsibility to ensure that all electrical connections are working, all trailer
lights are operating as expected, and the braking system is fully functioning. Model SModel X does not detect faulty
electrical connections. You must perform manual checks. Failure to do so can result in property damage, personal injury,
or death.
WARNING: Use only the electrical connection designed by Tesla. Do not attempt to directly splice or attempt to connect
trailer electrical wiring using any other method. Doing so can damage the vehicle electrical system and cause
malfunctions.

Impact on Range
Towing a trailer and carrying accessories increases vehicle weight and drag. As a result, driving range can decrease
significantly. Although Trip Planner attempts to adjust estimates based on Trailer Mode, actual energy consumption may vary.
Plan trip length and charging destinations accordingly.

Carrying Accessories and Crossbars
WARNING: Tesla assumes no responsibility for damage or injuries resulting from installing and using a carrier or
crossbars, for any omissions in the instructions accompanying a carrier or crossbar, or for your failure to follow the
instructions. Damage caused by using a carrier or crossbars is not covered by the warranty.

Carrying Accessories
CAUTION: The hitch assembly is designed to support vertical loads up to 160 lb (72 kg). Exceeding this maximum
weight can cause damage.
The hitch receiver is designed to support vertical loads up to 160 lb (72 kg). When carrying bicycles, skis, or other items on
the Cybertruck's hitch, always check to ensure that the maximum weight is not exceeded. When the carrier weighs 40 lbs (18
kg), the weigh threshold is sufficient for carrying two bicycles weighing approximately 60 lb (27 kg) each, or four items
weighing approximately 30 lbs (14 kg) each.
CAUTION: An accessory carrier attached to the rear of Model SModel X may obscure your view from the rear view mirror
and the rear camera.
Follow the instructions provided with your accessory carrier to install onto Model SModel X. Observe all regulations and legal
requirements in your state/region that apply to carrying accessories.
Model SModel X includes the wiring necessary for using an accessory carrier equipped with lights (see Electrical Connections
on page 790). Model SModel X also includes Trailer Mode software (see Trailer Mode on page 786).
When you connect an accessory carrier's wiring harness, Model SModel X detects a connection for trailer lights
and displays this indicator on the touchscreen to indicate that Trailer Mode is disabled.

When carrying accessories, periodically confirm that the accessory carrier and its cargo remain secure at all times, and if
applicable, that the lights on the accessory carrier are working.

Installing Brackets onto the Appliques
1. Open all 8 applique doors.

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2. Use the provided torque wrench to loosen and remove the nuts that are fastened to the threaded studs located within the
applique doors.
3. Install a bracket by positioning the bracket so that the raised arrow on it is directed outward, away from the vehicle. Align it
with the threaded studs and set it in place.

4. Use the nuts that were removed in step 2 and tighten them back onto the threaded studs with the provided torque wrench.

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5. Repeat steps 2-4 for the remaining applique doors.
NOTE: After installing the brackets once, you can leave them installed for future use, unless you want to move the
crossbars to different locations on the vehicle.

Installing Crossbars
NOTE: Installing the crossbars requires two people.
CAUTION: Crossbars must be installed in tandem. Failure to do so may cause damage.
CAUTION: It is your responsibility to ensure your accessories are secured to the crossbars. Periodically check to ensure
your accessories have not moved or loosened throughout your driving. See the in-box instructions that come with the
crossbars for more information.
CAUTION: If installing a crossbar on the front-most applique doors, make sure that the power feed harness on the
passenger side applique is not pinched during installation. If necessary, use a trim tool to release the applique and
maneuver the harness away from the studs.
To install the crossbars:
1. Locate the FRONT arrow embossed on the bottom of the crossbar. The arrow should point toward the front of the vehicle.

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2. Lower one tower (edge of the crossbar) onto the bracket and extend the crossbar so that the other tower aligns with the
bracket on the opposite side.

3. Use the key to open the tower doors. Push down to seat both towers.

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4. Once the towers are completely seated, close the tower doors securely using the key. You will hear and feel a “click” when
the tower door is closed completely. If there is resistance to closing or if the door physically cannot be closed, the tower
door is not seated properly. Turn the key to open the door, re-position, and use the key to close to door again.

5. Repeat this on the other side of the crossbar.
6. Repeat steps 1-5 to install your second crossbar directly in front of or behind the first one.
7. To test the secure installation of the crossbars, push and pull them in all directions. If any movement is observed at any of
the four towers, re-seat the affected crossbars, then retest the installation.

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NOTE: Keep the key in a dry, safe area for future use.
Weight limits

The crossbars are capable of supporting up to 220 lbs per crossbar set. See the in-box instructions that come with the
crossbars for more information.

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About Autopilot
Autopilot is a suite of advanced driver assistance features that are intended to make driving safer and less stressful. None of
these features make Model SModel X fully autonomous or replace you as the driver. Autopilot features come standard with all
new Tesla vehicles.
Basic Autopilot includes Traffic-Aware Cruise Control and Autosteer.
• Traffic-Aware Cruise Control: Maintains your speed and an adjustable following distance from the vehicle in front of you, if
there is one (see Traffic-Aware Cruise Control on page 802Traffic-Aware Cruise Control on page 299).
• Autosteer: Maintains your speed and distance from a leading vehicle while also intelligently keeping Model SModel X in its
lane (see Autosteer on page 802Autosteer on page 310).
WARNING: Basic Autopilot is a hands-on feature. Keep your hands on the steering wheelsteering yoke at all times and
be mindful of road conditions, surrounding traffic, and other road users (such as pedestrians and cyclists). Always be
prepared to take immediate action. Failure to follow these instructions could cause damage, serious injury, or death.
Enhanced Autopilot includes additional features. Enhanced Autopilot Features are designed to further reduce driver workload
and make common actions, such as changing lanes or parking, easier.
• Auto Lane Change: Moves Model SModel X into an adjacent lane when you engage the turn signal and Autosteer is active
(see Auto Lane Change on page 804Auto Lane Change on page 313).
• Navigate on Autopilot: Actively guides Model SModel X from a highway’s on-ramp to off-ramp, including performing lane
changes, navigating interchanges, automatically engaging the turn signal, and taking the correct exit (see Navigate on
Autopilot on page 805Navigate on Autopilot on page 316).
• Autopark: Parks Model SModel X, either parallel or perpendicularly (see #unique_1348 on page Autopark on page
327).
• Summon: Moves Model SModel X forward or backward, even while you’re outside the vehicle. This is useful for parking in
tight parking spots (see #unique_1349 on page Summon on page 330).
• Smart Summon: Moves Model SModel X out of a parking space and through more complex environments, maneuvering
around obstacles and other vehicles, to meet you or go to a predetermined target (see #unique_1350 on page Smart
Summon on page 333).
WARNING: Enhanced Autopilot is a hands-on feature. Keep your hands on the steering wheel at all times and be mindful
of road conditions, surrounding traffic, and other road users (such as pedestrians and cyclists). Always be prepared to
take immediate action. Failure to follow these instructions could cause damage, serious injury or death.
Full Self-Driving Capability includes:
• Traffic Light & Stop Sign Control: Maintains your speed, keeps a following distance, and keeps Model SModel X in its lane
while also slowing down and stopping for traffic lights and stop signs (see Traffic Light and Stop Sign Control on page
320).
• Autosteer on City Streets (Full Self-Driving (Supervised)): Attempts to drive to your destination by following curves in the
road; stopping at and negotiating intersections, stop signs, and roundabouts; making left and right turns; and entering/
exiting highways (see #unique_1351 on page Full Self-Driving (Supervised) on page 293).
WARNING: Full Self-Driving Capability is a hands-on feature. Keep your hands on the steering wheel at all times and be
mindful of road conditions, surrounding traffic, and other road users (such as pedestrians and cyclists). Pay attention to
the road at all times and always be prepared to take immediate action. Failure to follow these instructions could cause
damage, serious injury or death.
Autopilot uses the cameras on Model SModel X, which monitor the surrounding area and detect other vehicles, pedestrians,
road markings, and obstacles such as barriers and curbs. There are cameras mounted on the front, rear, left, and right sides of
Model SModel X (see Cameras on page ).
Model SModel X may also be equipped with a cabin camera, mounted in the rear-view mirror, that monitors driver
attentiveness. It is your responsibility to keep your hands on the wheel, pay attention to the road, and be ready to take
immediate action at any time.

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When Autopilot is engaged, Model SModel X shows a series of escalating warnings reminding you to keep your hands on the
wheel and pay attention to the road. If there is no response, Autopilot disengages and is unavailable for the remainder of the
drive.
WARNING: Autopilot 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
Autopilot 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.
It is your responsibility to familiarize yourself with the limitations of Autopilot and be ready to take control at all times. For more
limitations, cautions, and warnings, see Limitations and Warnings on page 820.

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Autopilot Conditions
Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot features (see Cleaning a
Camera on page 446). Dirty cameras and sensors (if equipped), as well as environmental conditions such as rain and faded
lane markings, can affect Autopilot performance. If a camera is obstructed or blinded, Model SModel X displays a message on
the instrument cluster and Autopilot features may not be available. For more information on specific alerts, see
Troubleshooting Alerts on page 543Troubleshooting Alerts on page 576.
Before you can use Autopilot features, and after some Service visits, you must drive a short distance to calibrate cameras. For
more information, see #unique_484 on page .
In addition, these features may not work as intended when:
• The road has sharp curves or significant changes in elevation.
• Road signs and signals are unclear, ambiguous, or poorly maintained.
• Visibility is poor (due to heavy rain, snow, hail, etc. or poorly lit roadways at night)
• You are driving in a tunnel or next to a highway divider that interferes with the view of the camera(s)
• Bright light (such as from oncoming headlights or direct sunlight) interferes with the view of the camera(s).
The list above does not represent an exhaustive list of situations that may interfere with proper operation of Autopilot features.
For more information, see Limitations and Warnings on page 820.
Autopilot
Feature
Traffic-Aware
Cruise Control

Available When

• You are driving between 18 mph (30 km/h) and 90 mph (150 km/h)85 mph (140 km/h)
NOTE: You can activate Traffic-Aware Cruise Control at lower speeds if there is a vehicle detected at
least 5 feet (1.5 meters) ahead of Model SModel X.

Autosteer
• You are driving between 18 mph (30 km/h) and 90 mph (150 km/h)85 mph (140 km/h)
NOTE: You can activate Autosteer at lower speeds if there is a vehicle detected at least 5 feet (1.5
meters) ahead of Model SModel X.
NOTE: On a residential road, a road without a center divider, or a road that is not controlled access, the
maximum allowed cruising speed is limited and the instrument panel displays a message. The restricted
speed will be the speed limit of the road plus 5 mph (10 km/h).
• Headlights are set to On or Auto. Although Autopilot is available both during the day and in low light
conditions (dusk or dark), Autosteer aborts or is unavailable if headlights are set to Off. When
Autosteer is engaged, Auto High Beam is automatically enabled (see High Beam Headlights on page
205High Beam Headlights on page 207 ) and wipers are set to Auto.
Navigate on
Autopilot

• You are driving between 18 mph (30 km/h) and 90 mph (150 km/h)85 mph (140 km/h).
NOTE: You can activate Navigate on Autopilot at lower speeds if there is a vehicle detected at least 5
feet (1.5 meters) ahead of Model SModel X.
• You are driving on a controlled-access highway. When you leave a controlled-access highway, Navigate
on Autopilot reverts to Autosteer.

Full SelfDriving
(Supervised)

800

• You are driving less than 85 mph (150 km/h).

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Autopilot
Feature

Available When
NOTE: You can activate Full Self-Driving (Supervised) at lower speeds, including when Model SModel X
is at a standstill, whether or not there is a vehicle detected in front of Model SModel X.
• Headlights are set to On or Auto. Although Full Self-Driving (Supervised) is available both during the
day and in low light conditions (dusk or dark), it aborts or is unavailable if headlights are set to Off.
When Full Self-Driving (Supervised) is engaged, Auto High Beam is automatically enabled (see High
Beam Headlights on page 205 ) and wipers are set to Auto.

Autopilot Features
This topic describes how to enable and use the following driver assistance features.
• Traffic-Aware Cruise Control: Like traditional cruise control, Traffic-Aware Cruise Control maintains a set driving speed.
However, Traffic-Aware Cruise Control also slows down or accelerates Model SModel X as needed to maintain the
following distance from the vehicle in front of you. While Traffic-Aware Cruise Control is engaged, you are still responsible
for steering Model SModel X (see Traffic-Aware Cruise Control on page 802).
• Autosteer: Like Traffic-Aware Cruise Control, Autosteer maintains a set speed (if there is not a vehicle in front of you) or a
set following distance (if there is a vehicle in front of you). In addition, Autosteer detects lane markings, road edges, and
the presence of vehicles and objects to intelligently keep Model SModel X in its driving lane (see Autosteer on page 802).
NOTE: Autosteer is a BETA feature.
• Auto Lane Change: When you engage a turn signal while Autosteer is active, Auto Lane Change moves Model SModel X
into the adjacent lane in the direction indicated by the turn signal (see Auto Lane Change on page 804).
• Navigate on Autopilot: Navigate on Autopilot builds on the features of Traffic-Aware Cruise Control and Autosteer. While
Autosteer is active, Navigate on Autopilot allows Model SModel X to suggest and, if configured, automatically change
lanes to pass other vehicles and follow the navigation route (see Navigate on Autopilot on page 805).
NOTE: Navigate on Autopilot is a BETA feature.
Traffic-Aware Cruise Control and Autosteer use information from the cameras on Model SModel X to detect lane markings,
road edges, and other vehicles and road users around Model SModel X.
CAUTION: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot features
(see Cleaning a Camera on page 446). Dirty cameras and sensors (if equipped), as well as environmental conditions
such as rain and faded lane markings, can affect Autopilot performance. If a camera is obstructed or blinded,
Model SModel X displays a message on the instrument cluster and Autopilot features may not be available. For more
information on specific alerts, see Troubleshooting Alerts on page 543Troubleshooting Alerts on page 576.
CAUTION: It is your responsibility to familiarize yourself with the limitations of Autopilot and the situations in which
driver intervention may be needed. For more information, see Limitations and Warnings on page 820.

Autopilot Settings
Before you use Autopilot features, customize how they work by touching Controls > Autopilot.
• Set Speed: Choose whether Autopilot engages at the currently detected speed limit or your current driving speed. Touch
Controls > Autopilot > Set Speed and choose either Speed Limit or Current Speed.
• Offset: If you choose Speed Limit, you can specify an offset by touching Set Speed Offset. You can choose Fixed (the
cruising speed adjusts by a specific amount on all roads) or Percentage (the cruising speed is adjusted as a percentage of
the road's detected speed limit).
• Autopilot Activation: Choose how to activate Autosteer. If set to Single Click, both Traffic-Aware Cruise Control and
Autosteer engage when you single-press the right scroll wheel. If set to Double Click, you must double-press the right
scroll wheel to engage Autosteer.
NOTE: Autopilot Activation must be set to Double Click if you want to use Traffic-Aware Cruise Control independently of
Autosteer.

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• Green Traffic Light Chime: In Canada and U.S.: If on, a chime will sound when you are waiting at a red traffic light and the
light turns green. If you are not actively using Traffic-Aware Cruise Control and are waiting at a red light with a car in front
of you, the chime sounds when the car ahead of you advances.

Traffic-Aware Cruise Control
Traffic-Aware Cruise Control is always enabled.
When Traffic-Aware Cruise Control is available but not engaged, the instrument cluster displays the cruising
speed in gray. The number shown represents the speed that will be set when you engage Traffic-Aware Cruise
Control.

When Traffic-Aware Cruise Control is actively cruising at a set speed, the speed is highlighted with blue text.

To engage Traffic-Aware Cruise Control, press the right scroll wheel, then release the accelerator pedal to allow Traffic-Aware
Cruise Control to maintain the cruising speed. You can apply the accelerator at any time to temporarily override the set
cruising speed.
NOTE: If Autopilot Activation is set to Single Click, pressing the right scroll wheel once also activates Autosteer (which
includes Traffic-Aware Cruise Control). Touch Controls > Autopilot > Autopilot Activation and choose Double Click to use
Traffic-Aware Cruise Control independently of Autosteer when you single-press the right scroll wheel.
If you want a chime to sound when you engage or cancel Traffic-Aware Cruise Control, touch Controls > Autopilot > TrafficAware Cruise Control Chime.
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.
For more information, see Limitations and Warnings on page 820.

Autosteer
To enable Autosteer:
1. Touch Controls > Autopilot > Autopilot Features > Autosteer (Beta).
2. After carefully reading and understanding the popup window, touch Yes.
To indicate that Autosteer is available (but not actively steering Model SModel X), the instrument panel displays
a gray Autosteer icon. In situations where Autosteer is temporarily unavailable, the Autosteer icon disappears.
(For example, if your driving speed is not within the speed required for Autosteer to operate.)

To initiate Autosteer, press the right scroll wheel.
NOTE: If the setting for Autopilot Activation is set to Double Click, you must double-press the right scroll wheel to engage
Autosteer (see Autopilot Settings on page 801).
Autosteer confirms activation with an audible chime and briefly displays a message on the instrument cluster reminding you to
pay attention to the road and be ready to take over at any time.
To indicate that Autosteer is now active, the instrument cluster displays the Autosteer icon in blue.

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When Autosteer is able to detect lane markings, it displays the edges of the driving lane in blue on the instrument cluster.

Whenever Autosteer is active, Traffic-Aware Cruise Control is active as well.
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 will not brake for detected obstacles as long as you are applying the accelerator pedal. 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.

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WARNING: Steering is limited when Autosteer is enabled. Therefore, Model SModel X may not be able to handle tight
turns. Be prepared to take control of the vehicle at all times.
WARNING: Autosteer is a hands-on assistance 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 Autosteer and the situations in which it may not work as expected. For more information, see Limitations
and Warnings on page 820.

Auto Lane Change
If you engage a turn signal while Autosteer is active, Model SModel X moves into the adjacent lane in the direction indicated
by the turn signal, provided the following conditions are met:
• The turn signal is engaged.
• 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.
• 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. If a
vehicle or other obstacle is detected in the target lane, it is shown in red in the visualization on the instrument cluster and
Model SModel X does not complete the lane change until it is safe to do so.

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NOTE: Auto Lane Change cancels if the lane change cannot be completed in 5 seconds.
WARNING: Although Autopilot is designed to detect vehicles and obstacles in adjacent lanes, it is your responsibility to
always perform visual checks to make sure it is safe and appropriate to move into the target lane. If Autopilot cannot
change lanes due to inadequate data, the instrument cluster displays a series of warnings. Therefore, when using Auto
Lane Change, always pay attention to the instrument cluster and be prepared to manually steer Model SModel X.
The minimum speed at which Autopilot changes lanes may vary depending on region, adjacent lane speeds, and other factors.
Always be ready to manually steer and change lanes as necessary. 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 811).
When you engage a turn signal, Autopilot moves 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.
As Model SModel X changes lanes, 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 cluster displays the location in the lane that Model SModel X is moving into.

Navigate on Autopilot
To enable Navigate on Autopilot, touch Controls > Autopilot > Navigate on Autopilot (Beta). Then, to customize how you want
Navigate on Autopilot to operate, touch Customize Navigate on Autopilot:

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• Enable at Start of Every Trip: Choose whether 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. Speed-based lanes changes are optional. You can use this setting to disable speed-based lane changes or to
specify how assertively you want Navigate on Autopilot to change lanes to achieve the set cruising speed (Mild, Average, or
Mad Max).
• Exit Passing Lane: Choose whether you want Navigate on Autopilot to maneuver out of a passing lane when navigating to a
destination. 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.
• Require Lane Change Confirmation: By default, Navigate on Autopilot requires your confirmation before proceeding with a
lane change by pressing the appropriate turn signal. If you do not confirm the lane change within 3 seconds, a chime
sounds to remind you that Navigate on Autopilot requires your confirmation to change lanes.
• Lane Change Notification: You can specify if or how you want to be notified of lane changes (Off, Chime, Vibrate, or Both).
If Enable at Start of Every Trip is turned on, Navigate on Autopilot engages automatically when:
• Autosteer is active.
• You are navigating to a destination.
• You are on a controlled-access highway.
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.
If Enable at Start of Every Trip is turned off, touch the Navigate on Autopilot button above the turn-by-turn directions to enable
it. Once the Navigate on Autopilot is selected, it will engage whenever you engage Autosteer.
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.

Whenever Navigate on Autopilot is active, the Navigate on Autopilot button is blue and the instrument cluster displays the
driving lane as a single blue line in front of Model SModel X:

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The turn-by-turn directions display the Autosteer icon next to the maneuvers (such as off-ramps) that Navigate on Autopilot
will handle.
When Navigate on Autopilot is engaged Model SModel X automatically makes both speed-based and route-based lane
changes after driver confirmation.
• Speed Based Lane Changes: Navigate on Autopilot changes lanes to reduce driving time to your destination. For example, if
Model SModel X is behind a vehicle going below the set cruising speed, Navigate on Autopilot will move into the passing
lane to pass it. Speed-based lanes changes are optional.
• Route Based Lane Changes: Navigate on Autopilot changes lanes to route you to your destination. For example, Navigate on
Autopilot will move into the exit lane as Model SModel X approaches the off-ramp specified by the navigation route.
When the instrument cluster displays a message asking you to confirm the lane change, engage the appropriate turn signal. If
you do not confirm the lane change within 3 seconds, a chime sounds to remind you that Navigate on Autopilot requires your
confirmation to change lanes. Auto Lane Change cancels if the lane change cannot be completed in 5 seconds.
If you ignore a route-based lane change suggestion (for example, you are driving in the left lane while approaching an offramp on the right side of the highway), Navigate on Autopilot is unable to maneuver onto the off-ramp and as a result, you are
re-routed to your destination.
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.
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CAUTION: Navigate on Autopilot may not always attempt to exit at an off-ramp or change lanes, even when an exit or
lane change is determined by the navigation route. Always remain alert and be prepared to manually steer onto an offramp, or make a lane change to prepare for, or to exit at, an off-ramp or interchange.
Navigate on Autopilot activates and deactivates based on the type of road you are driving on. When Navigate on Autopilot is
active and you approach an off-ramp or interchange along your navigation route, the appropriate turn signal engages and
Autosteer maneuvers Model SModel X onto the off-ramp or interchange.
When you leave a controlled-access highway Navigate on Autopilot reverts to Autosteer—a chime sounds and the instrument
cluster displays the driving lane lines in blue (instead of the single blue in front of Model SModel X). When Navigate on
Autopilot deactivates, Autosteer remains active. Always be prepared to take appropriate action.
WARNING: Navigate on Autopilot is a hands-on feature. Keep your hands on the steering wheelsteering yoke at all
times, be mindful of road conditions and surrounding traffic, and always be prepared to take immediate action. Failure to
follow these instructions could cause damage, serious injury or death. It is your responsibility to familiarize yourself with
the limitations of Navigate on Autopilot and the situations in which it may not work as expected. For more information,
see Limitations and Warnings on page 820.

Canceling Autopilot
Traffic-Aware Cruise Control cancels when:
• You press the right scroll wheel on the steering wheelsteering yoke.
• You press the brake pedal.
• You exceed 90 mph (150 km/h).
• You shift into Reverse, Park, or Neutral.
• A door is opened.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 340).
• The driver's seatbelt is released, and/or the driver gets out of their seat.
When Traffic-Aware Cruise Control cancels, the cruising speed icon on the instrument cluster turns gray to indicate that
Traffic-Aware Cruise Control is no longer active.
Autosteer cancels when any of the above actions are taken. In addition, Autosteer cancels when:
• You exceed 85 mph (140 km/h).
• You take over steering manually.You apply rotational force to the steering wheelsteering yoke (even a slight amount).
WARNING: If Autopilot Activation is set to Double Click and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheelsteering yoke, Traffic-Aware Cruise Control remains active. If
Autopilot Activation is set to Single Click and Autosteer cancels because you started steering manuallyapplied
rotational force to the steering wheelsteering yoke, Traffic-Aware Cruise Control also cancels.
• You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the instrument
cluster (see Driver Attentiveness on page 811).
When Autosteer cancels, a chime sounds and the Autosteer icon either turns gray to indicate that Autosteer is no longer
active, or disappears to indicate that it is not currently available.
Navigate on Autopilot cancels when Autosteer cancels, as described above. In addition, Navigate on Autopilot cancels when:
• You touch the Navigate on Autopilot button on the map’s turn-by-turn direction list. In this case, Autosteer is still active.
• You leave a controlled-access highway. When this happens, Autosteer is still active.
When Navigate on Autopilot cancels but Autosteer remains active, a chime sounds and the visualization goes from a single
blue line in the driving lane to two blue lines on either side of the lane.
When Traffic-Aware Cruise Control or Autosteer cancels, 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 TrafficAware Cruise Control (see Regenerative Braking on page 233).
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Autopilot
While Using Autopilot
When Traffic-Aware Cruise Control is active and Autopilot is maintaining a set speed, the speed is highlighted with blue text
on the instrument cluster.
When Autosteer is active, the steering wheelsteering yoke icon is blue and the lane markings are highlighted in blue on the
visualization. If Navigate on Autopilot is also active, the Navigate on Autopilot button is blue and the instrument cluster
displays the driving lane as a single blue line in front of Model SModel X.
To display more details about the roadway and its surroundings, such as road markings, stop lights, and objects (such as trash
cans and poles), touch Controls > Autopilot > Full Self-Driving Visualization Preview.
If unable to detect lane markings, Autosteer may determine the driving lane based on a vehicle you are following. In most
cases, Autosteer attempts to center Model SModel X in the driving lane. However, there may be situations in which Autosteer
follows a driving path that is offset from the center of the lane (for example, if guard rails are detected).

Maintaining the Set Speed
When Autopilot is active, Model SModel X maintains your set cruising speed whenever a vehicle is not detected in front of it.
When cruising behind a vehicle, Model SModel X accelerates and decelerates as needed to maintain a chosen following
distance (see Adjusting the Following Distance on page 809), up to the set speed.
You can manually accelerate at any time by pressing the accelerator pedal, but when you release the pedal Model SModel X
resumes cruising at the set speed.
Model SModel X also adjusts the cruising speed when entering and exiting curves.
When Model SModel X is actively slowing down to maintain the selected distance from the vehicle ahead, brake lights turn on.
You may notice slight movement of the brake pedal. However, when Model SModel X is accelerating, the accelerator pedal
does not move.

Changing the Set Speed
Roll the right scroll wheel up to increase, or down to decrease, the set speed.

It may take a few seconds for Model SModel X to reach the new cruising speed.

Adjusting the Following Distance
To adjust the following distance you want to maintain between Model SModel X and a vehicle traveling ahead of you, touch
Controls > Autopilot > Cruise Follow Distance.
The closest following distance is 2.The closest following distance is 1.
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. Autopilot retains your setting until you change it
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Autopilot
Stopping and Slowdowns
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 cluster 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.

When following a vehicle, Autopilot remains active at low speeds, even when Model SModel X comes to a full stop. For
example, Autopilot remains active even if Model SModel X slows down to a complete or near-complete stop in heavy, stopand-go traffic on a highway. When traffic starts moving more rapidly, Autopilot again accelerates up to the set speed.
Sometimes when Model SModel X is at a full stop, Autopilot goes into a HOLD state. If this happens, briefly press the
accelerator pedal to resume cruising.
When the HOLD status is active, the instrument cluster displays the HOLD icon and a message that indicates
that you need to resume cruise control.

Model SModel X goes into HOLD state while Autopilot is active in the following circumstances:
• 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 you are cruising near an exit on a controlled-access highway and engage the turn signal toward the off-ramp, Autopilot
assumes you are exiting and begins to slow down Model SModel X. If you do not drive onto the off-ramp, Autopilot resumes
cruising at the set speed.
In a region with right hand traffic, this occurs only when you engage the right turn signal when driving in the right-most lane
within 164 ft. (50 meters) of an exit. Likewise in regions with left hand traffic, this occurs when engaging the left turn signal
when driving in the left-most lane within 164 ft. (50 meters) of an exit.
NOTE: If Navigate on Autopilot is active, Model SModel X will perform a route-based lane change to enter the exit lane and
take the off-ramp as necessary to follow the navigation route.

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