• The view of the camera(s) is not obstructed.
When an automatic lane change is in progress, Overtake Acceleration is activated, allowing Model SModel XModel 3Model Y
to accelerate closer to a vehicle in front (see Overtake Acceleration on page 573).
NOTE: Auto Lane Change assists in movingmoves Model SModel XModel 3Model Y one lane at a time. Moving into an
additional lane requires you to engage the turn signal a second time after the first lane change is complete.
When using Auto Lane Change, it is important to monitor its performance by watching the driving path in front of you and the
surrounding area. Stay prepared to take over steering at any time. As you are crossing over into the adjacent lane, the
instrument panel displays the location in the lane that Model SModel XModel 3Model Y is moving into.
In situations where Auto Lane Change is unable to operate at optimal performance, or cannot operate due to inadequate data,
the instrument panel displays a series of warnings. Therefore, when using Auto Lane Change, always pay attention to the
instrument panel and be prepared to manually steer Model SModel XModel 3Model Y.

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Adjacent Lane Speed

When moving significantly faster than vehicles in adjacent lanes, Model SModel XModel 3Model Y 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 XModel 3Model Y detects other vehicles driving significantly slower, the instrument panel highlights the
adjacent lanes with arrows and detected vehicles in gray, and Model SModel XModel 3Model Y reduces the driving speed as
appropriate. To temporarily override this feature, press the accelerator pedal.
WARNING: Never depend on Autopilot to determine a safe driving speed; you are responsible for driving safely and
according to traffic laws in your market region.
Stop Light and Stop Sign Warning
While Autosteer is in use, Model SModel XModel 3Model Y displays a warning on the instrument panel and sounds a chime if
it detects that you are likely to run through a red stop light or stop sign. If this happens, TAKE IMMEDIATE CORRECTIVE
ACTION!
The visual and audible warnings cancel after a few seconds, or when you press the brake pedal, whichever comes first.
Stop Light and Stop Sign Warning provides warnings only. It does not slow down or stop Model SModel XModel 3Model Y 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 XModel 3Model Y at traffic lights and stop signs (see Traffic Light and Stop Sign
Control on page 589).
CAUTION: Stop Light and Stop Sign Warning requires on-board maps to know that a particular stop light or stop sign
exists at a location. In some cases, map data is inaccurate or outdated and may not include all stop lights or stop signs.
Therefore, Stop Light and Stop Sign Warning may not detect all stop lights and stop signs.
WARNING: The Stop Light and Stop Sign Warning feature does not apply the brakes or decelerate
Model SModel XModel 3Model Y and may not detect all stop lights and stop signs. Stop Light and Stop Sign Warning is
designed for guidance purposes only and is not a substitute for attentive driving and sound judgment. Keep your eyes
on the road when driving and never depend on Stop Light and Stop Sign Warning to warn you of a stop light or stop sign.
WARNING: Stop Light and Stop Sign Warning is designed to warn you only when approaching a visible red stop sign,
solid red or later portion of a yellow traffic light. It may not warn you of intersections with flashing lights and it does not
warn you of yield signs or temporary stop and yield signs (such as those used in construction areas). Additionally, Stop
Light and Stop Sign Warning does not warn you of approaching stop lights or stop signs when you are pressing the
accelerator pedal or brake pedal (which disables Autosteer).
Limitations
Autosteer and its associated functions are particularly unlikely to operate as intended when:

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• 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 XModel 3Model Y is being driven very close to a vehicle in front of it, which is blocking the view of the
camera(s).
WARNING: Many unforeseen circumstances can impair the operation of Autosteer. Always keep this in mind and
remember that as a result, Autosteer may not steer assist in steering Model SModel XModel 3Model Y appropriately.
Always drive attentively and be prepared to take immediate action.

Navigate on Autopilot
NOTE: Navigate on Autopilot is a BETA feature.
When using Autosteer on a controlled-access highway (a main highway on which road users enter and exit using on-ramps
and off-ramps). Navigate on Autopilot guides Model SModel XModel 3Model Y to off-ramps and interchanges based on your
navigation route. Along the highway portion of a navigation route, Navigate on Autopilot also changes lanes to prepare for
exits (route-based lane changes) and to minimize the driving time to your destination (speed-based lane changes).
WARNING: Navigate on Autopilot does not make driving autonomous. You must pay attention to the road, keep your
hands on the steering wheelsteering yoke (or steering wheel) at all times, and remain aware of your navigation route.
WARNING: As is the case with normal driving, be extra careful around blind corners, interchanges, and on-ramps and
off-ramps - obstacles can appear quickly and at any time.
WARNING: Navigate on Autopilot may not recognize or detect oncoming vehicles, stationary objects, and special-use
lanes such as those used exclusively for bikes, carpools, emergency vehicles, etc. Remain alert at all times and be
prepared to take immediate action. Failure to do so can cause damage, injury or death.
Enabling and Customizing Navigate on Autopilot
To enable Navigate on Autopilot, touch Controls > Autopilot > Autopilot Features > Autosteer > Navigate on Autopilot (Beta).
Then, to customize how you want Navigate on Autopilot to operate, touch Customize Navigate on Autopilot:
• Enable At Start Of Every Trip: Choose whether or not you want to automatically enable Navigate on Autopilot for every
navigation route. When enabled, the Navigate on Autopilot button on the turn-by-turn direction list is already enabled at
the start of every trip.
• Speed Based Lane Changes: Navigate on Autopilot is designed to perform both route-based and speed-based lane
changes. Route-based lane changes are designed to keep you on your navigation route (for example, moving you into an
adjacent lane to prepare for an upcoming off-ramp) whereas speed-based lane changes are designed to maintain a driving
speed (not to exceed your cruising speed) that allows you to minimize the time it takes to reach your destination (for
example, moving into an adjacent lane to pass a vehicle in front of you). Speed-based lanes changes are optional. You can
use this setting to disable speed-based lane changes or to specify how aggressively you want Navigate on Autopilot to
change lanes to achieve the set cruising speed. The Mild setting is more conservative about lane changes and may result in
a slightly longer driving time whereas Mad Max is designed to allow you to reach your destination in the shortest driving
time possible, but changes lanes only when safe to do so.
• Exit Passing Lane: Choose whether you want Navigate on Autopilot to maneuver out of a passing lane when navigating to a
destination.

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NOTE: In addition to route-based and speed-based lane changes, Navigate on Autopilot requests a lane change out of a
passing lane as a reminder to stay in a slower lane when you are not passing other vehicles. Choose NO to disable this and
keep Model SModel XModel 3Model Y 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 pulling the Autopilot stalk toward you or engaging the appropriate turn signal. However, if you want
Navigate on Autopilot to change lanes without requiring this confirmation, turn this setting off. When you turn the setting
off, you can specify if or how you want to be notified of lane changes (Off, Chime, Vibrate, or Both).
WARNING: If you turn off Require Lane Change Confirmation, Navigate on Autopilot notifies you of upcoming lane
changes and off-ramps, but it remains your responsibility to monitor the environment and maintain control of
Model SModel XModel 3Model Y at all times. Lane changes can occur quickly and suddenly. Always keep your hands
on the wheel and your eyes on the driving path in front of you.
NOTE: The touchscreen displays route-based lane changes at the top of the map's turn-by-turn direction list to notify you that
an upcoming lane change is needed to stay on the navigation route.
Operating Navigate on Autopilot
Once enabled, the Navigate on Autopilot button appears on the map’s turn-by-turn direction list whenever a navigation route
is active and the route includes at least one controlled-access highway. When enabled, the Navigate on Autopilot button is
blue and the turn-by-turn direction displays the Autosteer icon next to the maneuvers (such as off-ramps) that Navigate on
Autopilot will handle.
The Navigate on Autopilot icon shows in the turn-by-turn direction list when you are navigating to a destination
and Navigate on Autopilot is available but not active.

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

Navigate on Autopilot activates and deactivates as appropriate, based on the type of road you are driving on. For example, if
Autosteer is active and Navigate on Autopilot is enabled, Navigate on Autopilot automatically becomes active when you reach
a controlled-access highway on your navigation route.
Whenever Navigate on Autopilot is active, the instrument panel displays the driving lane as a single blue line in front of
Model SModel XModel 3Model Y:

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When Navigate on Autopilot is active and you approach an off-ramp or interchange along your navigation route, the
appropriate turn signal engages and Autosteer maneuvers Model SModel XModel 3Model Y onto the off-ramp or interchange.
WARNING: Never depend on Navigate on Autopilot to determine an appropriate lane at an off-ramp. Stay alert and
perform visual checks to ensure that the driving lane is safe and appropriate.
When you leave a controlled-access highway (for example, you take an exit or you enter a section of the navigation route that
is no longer supported), Navigate on Autopilot reverts to Autosteer— a chime sounds and the instrument panel displays the
driving lane lines in blue (instead of the single blue in front of Model SModel XModel 3Model Y).
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 690). If the setting is off, Navigate on Autopilot never uses a HOV lane,
regardless of time of day. If the setting is on, Navigate on Autopilot uses HOV lanes, whenever applicable.
WARNING: When Navigate on Autopilot deactivates, Autosteer remains active. Always be prepared to take appropriate
action.

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WARNING: Navigate on Autopilot may not always attempt to exit at an off-ramp or change lanes, even when an exit or
lane change is determined by the navigation route. Always remain alert and be prepared to manually steer onto an offramp, or make a lane change to prepare for, or to exit at, an off-ramp or interchange.
You can cancel Navigate on Autopilot at any time by touching Navigate on Autopilot on the map’s turn-by-turn direction list
(Model SModel XModel 3Model Y reverts to Autosteer), or by canceling Autosteer entirely (see Canceling Autosteer on page
581).
Lane Changes

Navigate on Autopilot changes lanes to either prepare Model SModel XModel 3Model Y for an upcoming off-ramp, to increase
your driving speed (not to exceed your set cruising speed), or to move Model SModel XModel 3Model Y out of a passing lane
when you are not actively passing other road users. A message displays at the top of the map's turn-by-turn direction list to
notify you when an upcoming lane change is required to stay on your navigation route. The instrument panel displays the
upcoming driving path:

When the instrument panel displays a message asking you to confirm the lane change, engage the appropriate turn signalor
pull the Autopilot stalk toward you. If you do not confirm the lane change within three seconds, a chime sounds to remind you
that Navigate on Autopilot requires your confirmation to change lanes.
If Require Lane Change Confirmation is turned off, Navigate on Autopilot engages the appropriate turn signal, checks for
vehicles and objects, and when appropriate, maneuvers Model SModel XModel 3Model Y into the adjacent lane.
If Require Lane Change Confirmation is turned on, you must engage the appropriate turn signal or pull the Autopilot stalk
toward you to confirm that you want Navigate on Autopilot to proceed with the lane change. If you do not confirm the lane
change within three seconds, a chime sounds to remind you that Navigate on Autopilot requires your confirmation to change
lanes.

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NOTE: If you ignore a route-based lane change suggestion (for example, you are driving in the left lane while approaching an
off-ramp on the right side of the highway), Navigate on Autopilot is unable to maneuver onto the off-ramp and as a result, you
are re-routed to your destination.
WARNING: Navigate on Autopilot may not always attempt to exit at an off-ramp or change lanes, even when an exit or
lane change is determined by the navigation route. Always remain alert and be prepared to manually steer onto an offramp, or make a lane change to prepare for, or to exit at, an off-ramp or interchange.
Be Ready to Assist

When attempting to change lanes or maneuver Model SModel XModel 3Model Y, or when approaching construction zones,
Navigate on Autopilot may be unable to determine the appropriate driving lane (for example, complex clover leafs and multilane off-ramps) and the instrument panel displays an alert indicating that Navigate on Autopilot is trying to maneuver and may
require assistance. When you see the message, be prepared to take immediate action to ensure that it is safe and appropriate
to complete the lane change or maneuver.

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Traffic Light and Stop Sign Control
NOTE: Traffic Light and Stop Sign Control is a BETA feature and works best on roads that are frequently driven by Tesla vehicles.
Traffic Light and Stop Sign Control attempts to stop at all traffic lights and may also stop at green lights.
Traffic Light and Stop Sign Control is designed to recognize and respond to traffic lights and stop signs, slowing
Model SModel XModel 3Model Y 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 XModel 3Model Y
approaches an intersection, the instrument clustertouchscreen displays a notification indicating the intention to slow down.
You must confirm that you want to continue or Model SModel XModel 3Model Y stops at the red line displayed on the
instrument clustertouchscreen'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 765Cleaning a Camera on page
766Cleaning a Camera on page 766Cleaning a Camera on page 766) and calibrated (see Drive to Calibrate Cameras on
page 107). 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 XModel 3Model Y. 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 697).
• 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 clustertouchscreen 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 XModel 3Model Y slows down and displays a red line to indicate where Model SModel XModel
3Model Y will stop. To continue through the intersection—even if the traffic light is green —you must pull the Autopilot stalk
toward you orpress down on the drive stalk orpress down on the drive stalk 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 XModel 3Model Y continues through the intersection and resumes your set cruising speed.
NOTE: If Model SModel XModel 3Model Y is approaching a green light and detects that a vehicle in front of you is continuing
through the intersection, Model SModel XModel 3Model Y 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 (or steering wheel).
NOTE: If, after you pull the Autopilot stalk toward you or press down on the drive stalk or press down on the drive stalk 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 XModel 3Model Y may determine that it is not appropriate to proceed. Therefore, Model SModel XModel
3Model Y 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 XModel 3Model Y through an
intersection unless Full Self-Driving (Supervised) is engaged. When in a turning lane, Model SModel XModel 3Model Y
stops at the red stop line. To proceed, pull the Autopilot stalk toward you or press down on the drive stalk or press down
on the drive stalk or briefly press the accelerator pedal—Model SModel XModel 3Model Y continues straight through
the intersection (even when in a turning lane), so you MUST manually steer Model SModel XModel 3Model Y through
the intersection (which cancels Autosteer).
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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.
• 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 clustertouchscreen on Model SModel XModel 3Model Y is displaying an upcoming traffic light in "bold"
format. Model SModel XModel 3Model Y does not acknowledge traffic lights that the instrument clustertouchscreen
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 clustertouchscreen displays it as faded and Model SModel XModel
3Model Y does not slow down and stop for it.
WARNING: If the instrument clustertouchscreen is not displaying a red stop line at an upcoming intersection,
Model SModel XModel 3Model Y 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 XModel 3Model Y to slow down unexpectedly. Be prepared to take immediate action at all times.
WARNING: You must pull the Autopilot stalk toward you or press down on the drive stalk or press down on the drive stalk
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 XModel 3Model Y stops at the red stop line displayed on
the instrument clustertouchscreen, 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 XModel 3Model Y 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 XModel 3Model Y 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 XModel 3Model Y 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 XModel 3Model Y slows down.
If you are following a car in front of you that continues through the intersection, the
instrument clustertouchscreen displays a green stop line and provided your hands are
detected on the steering wheelsteering yoke (or steering wheel), Model SModel XModel
3Model Y also continues. If a car is not in front of you, the instrument clustertouchscreen
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 press down on the drive stalk or
press down on the drive stalk or briefly pressing the accelerator pedal. If you don’t
confirm, Model SModel XModel 3Model Y stops at the red stop line.
NOTE: Model SModel XModel 3Model Y 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 XModel 3Model Y slows down and comes to a complete stop at the red
stop line displayed on the instrument clustertouchscreen. When you want to continue
through the intersection (for example, the light turns green again, or once
Model SModel XModel 3Model Y has come to a complete stop), you must pull the
Autopilot stalk toward you or press down on the drive stalk or press down on the drive
stalk or briefly press the accelerator pedal.

Model SModel XModel 3Model Y slows down and comes to a complete stop at the red
stop line displayed on the instrument clustertouchscreen. When you want to proceed
through the intersection (for example, the light turns green again), you must pull the
Autopilot stalk toward you or press down on the drive stalk or press down on the drive
stalk 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 XModel 3Model Y may stop
instead of continuing, especially if Model SModel XModel 3Model Y determines that it
can safely stop before entering the intersection.
NOTE: Model SModel XModel 3Model Y 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 XModel 3Model Y slows down. To proceed, you must pull the Autopilot
stalk toward you or press down on the drive stalk or press down on the drive stalk or
briefly press the accelerator pedal. If you don’t, Model SModel XModel 3Model Y stops at
the red stop line displayed on the instrument clustertouchscreen.
NOTE: To prevent Model SModel XModel 3Model Y 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 press down on the drive stalk or press down on the drive
stalk or briefly pressing the accelerator pedal at any time after the instrument
clustertouchscreen displays the red stop line. Model SModel XModel 3Model Y 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 XModel 3Model Y slows down and comes to a complete stop at the red
stop line displayed on the instrument clustertouchscreen. 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 press down on the drive
stalk or press down on the drive stalk 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 XModel 3Model Y 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 XModel 3Model Y assumes the right of way and continues straight without
slowing down or stopping.

No Traffic Control

Arm of T-junction
If Model SModel XModel 3Model Y detects a T-junction based on the map data,
Model SModel XModel 3Model Y slows down and comes to a complete stop at the red stop
line displayed on the instrument clustertouchscreen. When you want to proceed, you must
take over steering and acceleration.
WARNING: Model SModel XModel 3Model Y 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 XModel 3Model Y slows down and comes to a complete stop at the red stop
line displayed on the instrument clustertouchscreen. When you want to proceed through the
intersection, you must pull the Autopilot stalk toward you or press down on the drive stalk or
press down on the drive stalk 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 press down on the drive stalk or press down
on the drive stalk or briefly pressing the accelerator pedal before Model SModel XModel
3Model Y has stopped, your confirmation is ignored. Model SModel XModel 3Model Y is not
designed to proceed through a stop sign without stopping.

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NOTE: Even when using Autosteer, and even if you have engaged a turn signal, you must turn
the steering wheelsteering yoke (or steering wheel) yourself (which cancels Autosteer) to
complete a turn at an intersection.

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Type of Intersection

Vehicle Intended Response

Stop Sign and Road Marking

Road Marking
WARNING: Model SModel XModel 3Model Y also slows down and stops at a roundabout. You must take over steering
(which cancels Autosteer) and pull the Autopilot stalk toward you or press down on the drive stalk or press down on the
drive stalk or briefly press the accelerator pedal to confirm that you want to continue through the roundabout.
WARNING: At crosswalks, Model SModel XModel 3Model Y 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 XModel 3Model Y 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 XModel 3Model Y 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.

Full Self-Driving (Supervised)
When Full Self-Driving (Supervised) (also referred to as Autosteer on City Streets) is engaged, Model SModel XModel 3Model
Y attempts to drive to your destination by following curves in the road, stopping at and negotiating intersections, making left
and right turns, navigating roundabouts, and entering/exiting highways.
Unlike Traffic-Aware Cruise Control, Autosteer, and Navigate on Autopilot, which are intended for use on multi-lane roadways
with clear lane markings, Full Self-Driving (Supervised) is meant to work in a variety of driving scenarios. You can use Full SelfDriving (Supervised) on any type of roadway, including residential and city streets.
WARNING: Driver intervention may be required in certain situations, such as on narrow roads with oncoming cars, in
construction zones, or while going through complex intersections. For more examples of scenarios in which driver
intervention might be required, see Limitations and Warnings on page 623.
Full Self-Driving (Supervised) uses inputs from cameras mounted at the front, rear, left, and right of Model SModel XModel
3Model Y to build a model of the area surrounding Model SModel XModel 3Model Y (see Cameras on page 101). The Full SelfDriving computer installed in Model SModel XModel 3Model Y is designed to use this input, rapidly process neural networks,
and make decisions to safely guide you to your destination.
NOTE: As Tesla’s Full Self-Driving (Supervised) capabilities evolve, Model SModel XModel 3Model Y is upgraded through
over-the-air software updates. Download updates as soon as they become available.
NOTE: Full Self-Driving (Supervised) uses Tesla's vision-based system and therefore radar (if equipped) is disabled.
Like other Autopilot features, Full Self-Driving (Supervised) requires a fully attentive driver and will display a series of
escalating warnings requiring driver response. You must keep your hands on the steering wheelsteering yoke (or steering
wheel) while Full Self-Driving (Supervised) is engaged. While Full Self-Driving (Supervised) is engaged, the cabin camera
monitors driver attentiveness (see Driver Attentiveness on page 600).
WARNING: Full Self-Driving (Supervised) is a hands-on feature that requires you to pay attention to the road at all times.
Keep your hands on the steering wheelsteering yoke (or steering wheel) at all times, be mindful of road conditions and
surrounding traffic, pay attention to pedestrians and cyclists, and always be prepared to take immediate action
(especially around blind corners, crossing intersections, and in narrow driving situations). Failure to follow these
instructions could cause damage, serious injury or death. It is your responsibility to familiarize yourself with the
limitations of Full Self-Driving (Supervised) and the situations in which it may not work as expected. For more
information, see Limitations and Warnings on page 623.
CAUTION: Use of Full Self-Driving (Supervised) will be suspended if improper usage is detected. For more information,
see Autopilot Suspension on page 600.
CAUTION: As Full Self-Driving (Supervised) deployment expands, Tesla will gradually make it available to eligible
customers in select countries outside of the United States and Canada. Because every country contains unique
infrastructure, driving behaviors, and traffic patterns that Full Self-Driving (Supervised) must adapt to over time, it is
essential for drivers using Full Self-Driving (Supervised) in newly eligible countries to be extra attentive and overly
cautious. You must be ready to take over safely at any time.
Before Using Full Self-Driving (Supervised)
Before using Full Self-Driving (Supervised), you must:
• Ensure that the cameras on Model SModel XModel 3Model Y are unobstructed and calibrated (see Cameras on page 101).
Full Self-Driving (Supervised) depends on the ability of the cameras to detect traffic lights, stop signs, and road markings.

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• Ensure that the latest version of maps has been downloaded to Model SModel XModel 3Model Y. Although Full SelfDriving (Supervised) primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when
using the most recent map data. To check which version of maps is currently downloaded, touch Controls > Software. You
must connect to a Wi-Fi network to receive updated maps (see Map Updates on page 697).
In addition, you must enable Full Self-Driving (Supervised) before you can use it. To enable Full Self-Driving (Supervised),
touch Controls > Autopilot > Full Self-Driving (Supervised) and then, after carefully reading and understanding the popup
window, touch Yes.
NOTE: When Full Self-Driving (Supervised) is enabled, the setting for Autopilot Activation is set to Single Click and TrafficAware Cruise Control and Autosteer are unavailable.
NOTE: When Full Self-Driving (Supervised) is enabled, the setting for Autopilot Activation is set to Single Click and TrafficAware Cruise Control and Autosteer are unavailable.
NOTE: When Full Self-Driving (Supervised) is enabled, the setting for Autopilot Activation is set to Single Pull and TrafficAware Cruise Control and Autosteer are unavailable.
NOTE: When Full Self-Driving (Supervised) is enabled, the setting for Autopilot Activation is set to Single Pull and TrafficAware Cruise Control and Autosteer are unavailable.
Customize Full Self-Driving (Supervised) settings by touching Controls > Autopilot.
• Full Self-Driving (Supervised): If desired, change the default setting of Average to Chill or Assertive. Chill provides a more
relaxed driving style and Assertive drives with more urgency.
• Minimal Lane Changes for the Current Drive: When selected, Full Self-Driving (Supervised) makes fewer lane changes on
the current drive. Model SModel XModel 3Model Y will still make lane changes as necessary to follow the navigation route.
NOTE: While Full Self-Driving (Supervised) is selected, tilting the right steering wheelsteering yoke (or steering wheel)
button to the right or left also allows you to change the Full Self-Driving (Supervised) profile and enable or disable Minimal
Lane Changes.
• Automatic Set Speed Offset: When enabled, Model SModel XModel 3Model Y drives at the speed that Autopilot
determines to be the most natural. This considers factors like road type, traffic flow, environmental conditions, the
detected speed limit, and the selected Full Self-Driving (Supervised) profile setting.
WARNING: You are responsible for the speed of the vehicle at all times, whether Autopilot is engaged or not.

To Use Full Self-Driving (Supervised)
Once Full Self-Driving (Supervised) is enabled, activate it the same way you would Autosteer (see Autosteer on page
548Autosteer on page 578).
1. Enter a destination. If you do not choose a destination, Model SModel XModel 3Model Y chooses the most probable
driving path or suggests a destination based on your driving.
2. When the instrument clustertouchscreen displays the gray steering wheelsteering yoke (or steering wheel) icon, press the
right scroll wheelpress the right scroll wheelpull the drive stalk down once fullypull the drive stalk once fullypull the
Autopilot stalk toward you.

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You can engage Full Self-Driving (Supervised) at any speed less than 85 mph (150 km/h), including when
Model SModel XModel 3Model Y is at a standstill.
The instrument clustertouchscreen displays the maximum speed in blue. When you engage Full Self-Driving (Supervised), the
set cruising speed defaults to the speed limit, plus any offset you’ve specified. If Autopilot is unable to determine the speed
limit, the cruising speed is your current speed, in addition to any specified offset.

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To indicate that Full Self-Driving (Supervised) is available but not engaged, the top corner of the
touchscreen displays a gray steering wheelsteering yoke (or steering wheel) icon next to the
driving gear.

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

When Full Self-Driving (Supervised) is engaged, the instrument clustertouchscreen displays a visualization of the environment
surrounding Model SModel XModel 3Model Y, including the roadway and detected objects such as vehicles, pedestrians,
curbs, bicyclists, and more. Objects that are highlighted on the visualization represent priorities that Full Self-Driving
(Supervised) is actively controlling for at a given time.
NOTE: The Full Self-Driving (Supervised) visualization may not be a holistic representation of the objects, road markings, road
signals, and other variables that Full Self-Driving (Supervised) takes into account as it attempts to drive to your destination.
While Full Self-Driving (Supervised) is engaged, it uses data from the cameras on Model SModel XModel 3Model Y that may
not be represented in the visualization (see Cameras on page 101).
NOTE: Full Self-Driving (Supervised) uses Tesla’s vision-based system and therefore radar (if equipped) is disabled.

The visualization will also inform you of the system’s intended action by displaying a message on the instrument
clustertouchscreen, such as when the vehicle is slowly creeping for visibility to take a turn at an intersection.
You can widen the visualization area to fullscreen. Enable the setting by touching Controls > Autopilot > Full Self-Driving
(Supervised) > Expanded Full Self-Driving Visualization. Then on the touchscreen, swipe the visualization window handle to fill
the entire screen.
NOTE: You can override Full Self-Driving (Supervised) at any time if you are uncomfortable or uncertain about the system’s
intended course of action. You are driving Model SModel XModel 3Model Y at all times.
Canceling Full Self-Driving (Supervised)
To disengage Full Self-Driving (Supervised), do any of the following:
• Press the brake pedal.
• Move the drive stalk upward.
◦ CAUTION: If you move the drive stalk upward and hold it up for more than one second, Model SModel XModel 3Model Y
shifts into Neutral after canceling Autosteer.
• Move the drive stalk upward.
◦ CAUTION: If you move the drive stalk upward and hold it up for more than one second, Model SModel XModel 3Model Y
shifts into Neutral after canceling Autosteer.
• Press the right scroll wheel on the steering yoke (or steering wheel).
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