Owner's Manual

Autopilot
When enabled while on a highway interchange or off-ramp, Traffic-Aware Cruise Control may reduce your set speed in 5 mph
(5 km/h) increments – to as slow as 25 mph (40 km/h) – to better match the reported speeds of other Tesla vehicles that have
driven at that specific location. To override this and continue cruising at your set speed, tap the accelerator pedal. The new set
speed is maintained for the duration of the interchange or off-ramp (unless you override it or cancel Autopilot). After the
interchange or off-ramp, the set speed may revert or change as necessary based on the new location. For example, if you
merged onto a different highway, the set cruising speed reverts to what it was before driving on the interchange.
WARNING: In some cases (such as having insufficient data), Traffic-Aware Cruise Control may not automatically reduce
the set speed on the highway interchange or off-ramp. Do not rely on Traffic-Aware Cruise Control to determine an
appropriate driving speed. Tesla recommends driving at a speed that is safe for road conditions and within posted speed
limits.
When cruising onto an on-ramp to a controlled-access highway, Autopilot automatically adjusts the set cruising speed to the
speed limit of the highway, plus any offset you have specified. If Navigate on Autopilot is engaged, it disengages as you leave
the controlled-access highway (see Canceling Autopilot on page 808). In this case, Autosteer remains active.

Overtake Acceleration
Engage the turn signal momentarily to accelerate Model SModel X towards the vehicle ahead of it. By momentarily holding the
turn signal, you can quickly accelerate up to your set speed without having to press the accelerator pedal as long as:
• Traffic-Aware Cruise Control is operating and detects a vehicle in front of you.
• No obstacles or vehicles are detected in the target lane.
• Model SModel X is traveling below the set speed, but over 45 mph (72 km/h).
NOTE: If Autosteer is active and you fully engage the turn signal, Model SModel X will change lanes automatically (see Auto
Lane Change on page 804).
Model SModel X stops accelerating when you reach your set cruising speed, if changing lanes takes too long, or if
Model SModel X gets too close the vehicle ahead. Model SModel X also stops accelerating if you disengage the turn signal.

Stop Light and Stop Sign Warning
While Autopilot is in use, Model SModel X displays a warning on the instrument cluster 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).

Emergency Vehicles
Model SModel X automatically reduces driving speed when lights from an emergency vehicle are detected when using
Autosteer at night on a high speed road. When this happens, the instrument cluster displays a message informing you of the
slowdown. You will also hear a chime, and see a reminder to keep your hands on the steering wheelsteering yoke. When the
light detections pass by or cease to appear, Autopilot resumes your cruising speed. Alternatively, you may tap the accelerator
to resume your cruising speed.
Never depend on Autopilot features to determine the presence of emergency vehicles. Model SModel X may not detect lights
from emergency vehicles. Keep your eyes on your driving path and always be prepared to take immediate action.

Driver Attentiveness
Autosteer determines how best to steer Model SModel X. When active, Autosteer requires you to hold the steering wheel. If it
does not detect your hands on the steering wheel for a period of time, a flashing blue light appears at the top of the vehicle
status section of the instrument cluster and the following message displays:
Steering yoke alert:

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Apply slight turning force to steering yoke

Steering wheel alert:
Apply slight turning force to steering wheel

When your hands are detected, the message disappears and Autosteer resumes normal operation. Autosteer detects your
hands by recognizing slight resistance as the steering wheel turns, or from you manually turning the steering wheel very lightly
(without enough force to take over steering). Autosteer also qualifies your hands as being detected if you engage a turn signal
or use a button or scroll wheel on the steering wheel.
Autosteer requires that you pay attention to your surroundings and remain prepared to take control at any time. If Autosteer
still does not detect your hands on the steering wheel, the flashing light on the vehicle status section of the instrument cluster
increases in frequency and a chime sounds.
If you repeatedly ignore Autosteer's prompts to apply slight force to the steering wheel, Autosteer disables for the rest of the
drive and displays the following message requesting you to drive manually.
Autosteer unavailable for the rest of this drive. Hold steering wheelsteering yoke to drive manually.

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).
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.

Autosteer Suspension
Use of Autosteer will be suspended if improper usage is detected.
When you or another driver of your vehicle receives five forced Autopilot disengagements, use of Autosteer is suspended for a
week. A forced disengagement is when the Autopilot system disengages for the remainder of a trip after the driver receives
several audio and visual warnings for inattentiveness. Driver-initiated disengagements do not count as improper usage.
You can see how many disengagements are remaining before Autosteer access is suspended by touching Controls > Autopilot.
A disengagement is forgiven after 7 days, as long as you don't receive another forced disengagement in that time.
NOTE: If your access to Autosteer is suspended, you are still able to use Traffic-Aware Cruise Control and all active safety
features are still enabled.

Take Over Steering 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

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When you see this message, TAKE OVER STEERING IMMEDIATELY.

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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.

Limitations and Warnings
This topic includes warnings, cautions, and limitations pertaining to the following Autopilot features.
• Traffic-Aware Cruise Control on page 802Traffic-Aware Cruise Control on page 299
• Autosteer on page 802Autosteer on page 310
• Navigate on Autopilot on page 822Navigate on Autopilot on page 316
• Autosteer on City Streets (Full Self-Driving (Supervised)) on page 823
• Autopark on page 824Autopark on page 327
• Summon on page 824Summon on page 330
• Smart Summon on page 825Smart Summon on page 333
WARNING: Read the following warnings and limitations carefully before using Autopilot. Failure to follow all warnings
and instructions can result in property damage, serious injury, or death.
NOTE: 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.

Traffic-Aware Cruise Control
While using Traffic-Aware Cruise Control, it is the driver’s responsibility to stay alert, drive safely, and be in control of the vehicle
at all times. Always keep your eyes on the road when driving and be prepared to take corrective action as needed.
In addition, it is the driver’s responsibility to cruise at a safe speed and maintain a safe following distance based on road
conditions and applicable speed limits. Be aware of the following limitations while Traffic-Aware Cruise Control is active.
• There may be situations where the cruising speed may not change when the speed limit changes.
• Traffic-Aware Cruise Control does not adapt driving speed based on road and driving conditions. Do not use Traffic-Aware
Cruise Control on winding roads with sharp curves, on icy or slippery road surfaces, or when weather conditions (such as
heavy rain, snow, fog, etc.) make it inappropriate to drive at a consistent speed.
• Do not rely on Traffic-Aware Cruise Control to maintain an accurate or appropriate following distance.
• Traffic-Aware Cruise Control may be unable to provide adequate speed control because of limited braking capability and
hills. It can also misjudge the distance from a vehicle ahead. Driving downhill can increase driving speed, causing
Model SModel X to exceed your set speed (and potentially the road's speed limit).
• Traffic-Aware Cruise Control may occasionally cause Model SModel X to brake when not required or when you are not
expecting it. This can be caused by closely following a vehicle ahead, detecting vehicles or objects in adjacent lanes
(especially on curves), etc.
• Due to limitations inherent in the onboard GPS (Global Positioning System), you may experience situations in which
Model SModel X slows down, especially near exits or off-ramps where a curve is detected and/or you are navigating to a
destination and not following the route.
• In some cases (such as having insufficient data), Traffic-Aware Cruise Control may not automatically reduce the set speed
on the highway interchange or off-ramp.
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• Traffic-Aware Cruise Control may not detect all objects and, especially when cruising over 50 mph (80 km/h), may not
brake/decelerate when a vehicle or object is only partially in the driving lane or when a vehicle you are following moves out
of your driving path and a stationary or slow-moving vehicle or object is in front of you.
• Traffic-Aware Cruise Control may react to vehicles or objects that either do not exist, or are not in your lane of travel,
causing Model SModel X to slow down unnecessarily or inappropriately.
WARNING: Traffic-Aware Cruise Control is particularly unlikely to operate as intended in the following types of
situations:
• 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).
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of
Traffic-Aware Cruise Control. Traffic-Aware Cruise Control can cancel unexpectedly at any time for unforeseen
reasons. Always watch the road in front of you and stay prepared to take appropriate action. It is the driver's
responsibility to be in control of Model SModel X at all times.
WARNING: Traffic-Aware Cruise Control is designed for your driving comfort and convenience and is not a collision
warning or avoidance system. Never depend on Traffic-Aware Cruise Control to adequately slow down Model SModel X.
Always watch the road in front of you and be prepared to take corrective action at all times. Failure to do so can result in
serious injury or death.
WARNING: Although Traffic-Aware Cruise Control is capable of detecting pedestrians and cyclists, never depend on
Traffic-Aware Cruise Control to adequately slow Model SModel X down for them. Failure to do so can result in serious
injury or death.

Autosteer
WARNING: Autosteer is a hands-on feature. Keep your hands on the steering wheel at all times, be mindful of road
conditions and surrounding traffic, and always be prepared to take immediate action. Failure to follow these instructions
could cause damage, serious injury or death.
WARNING: Autosteer is intended for use on controlled-access highways with a fully attentive driver. Do not use
Autosteer in construction zones, or in areas where bicyclists or pedestrians may be present.
WARNING: Never depend on Autosteer to determine an appropriate driving path.
CAUTION: 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.
• 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).

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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 Model SModel X appropriately. Always drive attentively and be
prepared to take immediate action.
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.

Auto Lane Change
CAUTION: When changing lanes using Auto Lane Change, It is the driver's responsibility to determine whether a lane
change is safe and appropriate. 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.
CAUTION: Be aware of the following limitations while using Auto Lane Change.
• 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 touchscreen for warnings. Always be
prepared to take immediate action.
• Do not use Auto Lane Change on roads where traffic conditions are constantly changing and where bicycles and
pedestrians are present.
• The performance of Auto Lane Change depends on the ability of the camera(s) to recognize lane markings.
• 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).
• Overtake Acceleration can cancel for many unforeseen reasons in addition to those listed above (for example, lack of
GPS data). Stay alert and never depend on Overtake Acceleration to increase your driving speed.
• Overtake Acceleration increases your driving speed whenever the appropriate turn signal is engaged, and
accelerates Model SModel X closer to the vehicle ahead. Although Traffic-Aware Cruise Control continues to
maintain distance from the vehicle ahead, it is important to be aware that your selected following distance is reduced
when Overtake Acceleration is active, particularly in cases where it may not be your intention to overtake the vehicle
you are following.

Stop Light and Stop Sign Warning
WARNING: 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).

Navigate on Autopilot
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.
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.
WARNING: Navigate on Autopilot does not make driving autonomous. You must pay attention to the road, keep your
hands on the steering wheel at all times, and remain aware of your navigation route.
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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.

Autosteer on City Streets (Full Self-Driving (Supervised))
WARNING: Always remember that Full Self-Driving (Supervised) (also known as Autosteer on City Streets) does not
make Model SModel X autonomous and requires a fully attentive driver who is ready to take immediate action at all times.
WARNING: Full Self-Driving (Supervised) is a hands-on feature. Keep your hands on the steering wheelsteering yoke at
all times, be mindful of road conditions and surrounding traffic, and always be prepared to take immediate action. Failure
to follow these instructions could cause damage, serious injury or death. It is your responsibility to familiarize yourself
with the limitations of Full Self-Driving (Supervised) and the situations in which it may not work as expected.
WARNING: Failure to follow all warnings and instructions can result in property damage, serious injury or death.
CAUTION: Full Self-Driving (Supervised) and its associated functions may not operate as intended and there are
numerous situations in which driver intervention may be needed. Examples include (but are not limited to):
• Interactions with pedestrians, bicyclists, and other road users.
• Unprotected turns with high-speed cross traffic.
• Multi-lane turns.
• Simultaneous lane changes.
• Narrow roads with oncoming cars or double-parked vehicles.
• Rare objects such as trailers, ramps, cargo, open doors, etc. protruding from vehicles.
• Merges onto high-traffic, high-speed roads.
• Debris in the road.
• Construction zones.
• High curvature roads, particularly at fast driving speeds.
Visibility is critical for Full Self-Driving (Supervised) to operate. Low visibility, such as low light or poor weather
conditions (rain, snow, direct sun, fog, etc.) can significantly degrade performance.
WARNING: Model SModel X may quickly and suddenly make unexpected maneuvers or mistakes that require immediate
driver intervention.
The list above represents only a fraction of the possible scenarios that can cause Full Self-Driving (Supervised) to make
sudden maneuvers and behave unexpectedly. In fact, Model SModel X can suddenly swerve even when driving
conditions appear normal and straight-forward. Stay alert and always pay attention to the roadway so you can anticipate
the need to take corrective action as early as possible. Remember that this is an early access feature that must be used
with extra caution.
CAUTION: As Full Self-Driving (Supervised) deployment expands, Tesla will gradually make it available to eligible
customers in select countries outside the United States. Because every country contains unique infrastructure, driving
behaviors, and traffic patterns that Full Self-Driving (Supervised) must adapt to over time, it is essential for drivers using
Full Self-Driving (Supervised) in newly eligible countries to be extra attentive and overly cautious. You must be ready to
take over safely at any time.

Owner's Manual

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Autopilot
Autopark
CAUTION: Autopark's performance depends on the ability of the cameras and sensors (if equipped) to determine the
vehicle's proximity to curbs, objects, and other vehicles. Be aware of the following warnings before and while using
Autopark:
• 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.
• 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.
• When Autopark is actively steering Model SModel X, the steering wheel moves in accordance with Autopark's
adjustments. Do not interfere with the movement of the steering wheel. Doing so cancels Autopark.
• During the parking sequence, continually check your surroundings. Be prepared to apply the brakes to avoid
vehicles, pedestrians, or objects.
• When Autopark is active, monitor the touchscreen to ensure that you are aware of the instructions that Autopark is
providing.
CAUTION:
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 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) operation.
• The sensors (if equipped) are affected by other electrical equipment or electrical interference.
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.

Summon
CAUTION: 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. 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.

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Owner's Manual

Autopilot
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of