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 XModel 3Model Y.

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 XModel 3Model Y.
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 paneltouchscreen 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 BeamAdaptive Headlights Auto High Beam is automatically enabled (see High
Beam Headlights on page 429High Beam Headlights on page 428High Beam Headlights on page 430
High Beam Headlights on page 415High Beam Headlights on page 415) 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 XModel 3Model Y.
• You are driving on a controlled-access highway. When you leave a controlled-access highway, Navigate
on Autopilot reverts to Autosteer.

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Autopilot
Feature
Full SelfDriving
(Supervised)

Available When

• You are driving less than 85 mph (150 km/h).
NOTE: You can activate Full Self-Driving (Supervised) at lower speeds, including when
Model SModel XModel 3Model Y is at a standstill, whether or not there is a vehicle detected in front of
Model SModel XModel 3Model Y.
• 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 429High Beam Headlights on page 428 High Beam Headlights on page 415High
Beam Headlights on page 415) 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 XModel 3Model Y 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 XModel 3Model Y (see Traffic-Aware Cruise Control on page 547).
• 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 XModel 3Model Y in its driving lane (see
Autosteer on page 548).
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 XModel 3Model Y into the adjacent lane in the direction indicated by the turn signal (see Auto Lane Change
on page 552).
• 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 XModel 3Model Y to suggest and, if configured,
automatically change lanes to pass other vehicles and follow the navigation route (see Navigate on Autopilot on page 554).
NOTE: Navigate on Autopilot is a BETA feature.
Traffic-Aware Cruise Control and Autosteer use information from the cameras on Model SModel XModel 3Model Y to detect
lane markings, road edges, and other vehicles and road users around Model SModel XModel 3Model Y.
CAUTION: Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot features
(see Cleaning a Camera on page 765Cleaning a Camera on page 766Cleaning a Camera on page 766Cleaning a Camera
on page 766). 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 XModel 3Model Y
displays a message on the instrument clustertouchscreen and Autopilot features may not be available. For more
information on specific alerts, see Troubleshooting Alerts on page 936Troubleshooting Alerts on page 990.
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 623.

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.

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• 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.
• 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.
• Autopilot Activation: Choose how to activate Autosteer. If set to Single Pull, both Traffic-Aware Cruise Control and
Autosteer engage when you pull the drive stalk down once. If set to Double Pull, you must pull the drive stalk down twice in
quick succession to engage Autosteer.
NOTE: Autopilot Activation must be set to Double Pull if you want to use Traffic-Aware Cruise Control independently of
Autosteer.
• Autopilot Activation: Choose how to activate Autosteer. If set to Single Pull, both Traffic-Aware Cruise Control and
Autosteer engage when you pull the drive stalk down once. If set to Double Pull, you must pull the drive stalk down twice in
quick succession to engage Autosteer.
NOTE: Autopilot Activation must be set to Double Pull if you want to use Traffic-Aware Cruise Control independently of
Autosteer.
• 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 clustertouchscreen displays
the cruising speed in gray. The number shown represents the speed that will be set when you engage TrafficAware 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. A chime sounds to indicate that Traffic-Aware Cruise Control is now active. 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.
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. A chime sounds to indicate that Traffic-Aware Cruise Control is now active. 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.

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To engage Traffic-Aware Cruise Control when it is available (the car status area of the touchscreen displays the gray cruising
speed icon), pull the drive stalk down once, then release the accelerator pedal to allow Traffic-Aware Cruise Control to
maintain the cruising speed. A chime sounds to indicate that Traffic-Aware Cruise Control is now active. You can apply the
accelerator at any time to temporarily override the set cruising speed.

NOTE: If Autopilot Activation is set to Single Pull, pulling the drive stalk down once also activates Autosteer (which includes
Traffic-Aware Cruise Control). Touch Controls > Autopilot > Autopilot Activation and choose Double Pull to use Traffic-Aware
Cruise Control independently of Autosteer when you pull the drive stalk down once.
To engage Traffic-Aware Cruise Control when it is available (the car status area of the touchscreen displays the gray cruising
speed icon), pull the drive stalk down once, then release the accelerator pedal to allow Traffic-Aware Cruise Control to
maintain the cruising speed. A chime sounds to indicate that Traffic-Aware Cruise Control is now active. You can apply the
accelerator at any time to temporarily override the set cruising speed.

NOTE: If Autopilot Activation is set to Single Pull, pulling the drive stalk down once also activates Autosteer (which includes
Traffic-Aware Cruise Control). Touch Controls > Autopilot > Autopilot Activation and choose Double Pull to use Traffic-Aware
Cruise Control independently of Autosteer when you pull the drive stalk down once.
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 XModel 3Model Y.
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 623.

Autosteer
To enable Autosteer:
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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 XModel 3Model Y),
the instrument paneltop corner of the touchscreen displays a gray Autosteer icon next to the
driving gear. 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 wheelpress the right scroll wheelmove the drive stalk fully down twice in quick
successionmove the drive stalk fully down twice in quick succession.
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 546).
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 546).
NOTE: If the setting for Autopilot Activation is set to Single Pull, pulling the drive stalk down once engages Autosteer (see
Autopilot Settings on page 546).
NOTE: If the setting for Autopilot Activation is set to Single Pull, pulling the drive stalk down once engages Autosteer (see
Autopilot Settings on page 546).

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Autosteer confirms activation with an audible chime and briefly displays a message on the instrument clustertouchscreen
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 clustertouchscreen displays the Autosteer
icon in blue.

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

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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 XModel 3Model Y 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 (or steering wheel), you can increase your set speed again, if desired.
WARNING: Steering is limited when Autosteer is enabled. Therefore, Model SModel XModel 3Model Y 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 (or 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. 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 623.

Auto Lane Change
If you engage a turn signal while Autosteer is active, Model SModel XModel 3Model Y 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 XModel 3Model Y must detect the target lane's outside lane marking. If
this lane marking is not detected, the lane change is aborted and Model SModel XModel 3Model Y returns to its original
driving lane.
• The view of the camera(s) is not obstructed.
• Model SModel XModel 3Model Y 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 clustertouchscreen and Model SModel XModel 3Model Y 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 clustertouchscreen displays a series of warnings. Therefore, when
using Auto Lane Change, always pay attention to the instrument clustertouchscreen and be prepared to manually steer
Model SModel XModel 3Model Y.
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 XModel 3Model Y to accelerate closer to a vehicle in front (see Overtake
Acceleration on page 564).
When you engage a turn signal, Autopilot moves 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.
As Model SModel XModel 3Model Y 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 clustertouchscreen displays the location in the lane that Model SModel XModel 3Model Y is
moving into.

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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:
• 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 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 pressing the appropriate turn signalengaging 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.

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• 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 clustertouchscreen
displays the driving lane as a single blue line in front of Model SModel XModel 3Model Y:

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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 XModel 3Model Y automatically makes both speed-based and routebased 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 XModel 3Model Y 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 XModel 3Model Y approaches the off-ramp specified by the
navigation route.
When the instrument clustertouchscreen 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.

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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.
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 XModel 3Model Y 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
clustertouchscreen displays the driving lane lines in blue (instead of the single blue in front of Model SModel XModel 3Model
Y). 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 (or
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. 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 623.

Canceling Autopilot
Traffic-Aware Cruise Control cancels when:
• You 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.
• You 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.
• You press the right scroll wheel on the steering wheelsteering yoke (or steering wheel).
• You press the right scroll wheel on the steering wheelsteering yoke (or steering wheel).
• 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 636).
• The driver's seatbelt is released, and/or the driver gets out of their seat.

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When Traffic-Aware Cruise Control cancels, the cruising speed icon on the instrument clustertouchscreen 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 (or steering wheel) (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 (or steering wheel), 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 (or steering wheel), Traffic-Aware Cruise Control
also cancels.
WARNING: If Autopilot Activation is set to Double Click and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheel, 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 wheel, Traffic-Aware Cruise Control also cancels.
WARNING: If Autopilot Activation is set to Double Pull and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheel, Traffic-Aware Cruise Control remains active. If Autopilot
Activation is set to Single Pull and Autosteer cancels because you started steering manuallyapplied rotational force
to the steering wheel, Traffic-Aware Cruise Control also cancels.

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WARNING: If Autopilot Activation is set to Double Pull and Autosteer cancels because you started steering
manuallyapplied rotational force to the steering wheel, Traffic-Aware Cruise Control remains active. If Autopilot
Activation is set to Single Pull and Autosteer cancels because you started steering manuallyapplied rotational force
to the steering wheel, 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
clustertouchscreen (see Driver Attentiveness on page 565).
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 XModel 3Model Y does not coast. Instead,
regenerative braking slows down Model SModel XModel 3Model Y in the same way as when you move your foot off the
accelerator when driving without Traffic-Aware Cruise Control (see Regenerative Braking on page 456).

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 clustertouchscreen.
When Autosteer is active, the steering wheelsteering yoke (or steering wheel) 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 clustertouchscreen displays the driving lane as a single blue line in front of Model SModel XModel 3Model Y.
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 XModel 3Model Y 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 XModel 3Model Y maintains your set cruising speed whenever a vehicle is not
detected in front of it. When cruising behind a vehicle, Model SModel XModel 3Model Y accelerates and decelerates as
needed to maintain a chosen following distance (see Adjusting the Following Distance on page 561), 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 XModel 3Model Y resumes cruising at the set speed.
Model SModel XModel 3Model Y also adjusts the cruising speed when entering and exiting curves.
When Model SModel XModel 3Model Y 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 XModel 3Model Y 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.
You can also change the cruising speed to the current speed limit (including any offset you've specified), by either:
You can also change the cruising speed to the current speed limit (including any offset you've specified), by either:
• Pushing the drive stalk downward and briefly holding.
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• Touching and briefly holding the speed limit sign on the touchscreen until you see the cruising speed change.
• Pushing the drive stalk downward and briefly holding.
• Touching and briefly holding the speed limit sign on the touchscreen until you see the cruising speed change.

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It may take a few seconds for Model SModel XModel 3Model Y to reach the new cruising speed.

Adjusting the Following Distance
To adjust the following distance you want to maintain between Model SModel XModel 3Model Y and a vehicle traveling ahead
of you, press the steering wheel's right scroll button to the left or right.
NOTE: If Full Self-Driving (Supervised) is active, pressing the steering wheel's right scroll button to the left or right changes
the Full Self-Driving (Supervised) profile (see Full Self-Driving (Supervised) on page 595).
To adjust the following distance you want to maintain between Model SModel XModel 3Model Y 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.

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Each setting corresponds to a time-based distance that represents how long it takes for Model SModel XModel 3Model Y,
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 again.
As you adjust the following distance, the touchscreen displays the current setting.

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Stopping and Slowdowns
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 clustertouchscreen
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.

When following a vehicle, Autopilot remains active at low speeds, even when Model SModel XModel 3Model Y comes to a full
stop. For example, Autopilot remains active even if Model SModel XModel 3Model Y slows down to a complete or nearcomplete stop in heavy, stop-and-go traffic on a highway. When traffic starts moving more rapidly, Autopilot again accelerates
up to the set speed.
Sometimes when Model SModel XModel 3Model Y 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 clustertouchscreen displays the HOLD icon and a message that
indicates that you need to resume cruise control.

Model SModel XModel 3Model Y goes into HOLD state while Autopilot is active in the following circumstances:
• Model SModel XModel 3Model Y has been at a standstill for 5 minutes.
• Model SModel XModel 3Model Y detects a pedestrian (the HOLD state may clear when the pedestrian is no longer
detected).
• Model SModel XModel 3Model Y suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model SModel XModel 3Model Y.

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 XModel 3Model Y. 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.

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NOTE: If Navigate on Autopilot is active, Model SModel XModel 3Model Y will perform a route-based lane change to enter the
exit lane and take the off-ramp as necessary to follow the navigation route.
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 557). In this case, Autosteer remains active.

Overtake Acceleration
Engage the turn signal momentarily to accelerate Model SModel XModel 3Model Y towards the vehicle ahead of it. By
momentarily holding the turn signal stalk up or down stalk up or down, 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 XModel 3Model Y 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 XModel 3Model Y will change lanes
automatically (see Auto Lane Change on page 552).
Model SModel XModel 3Model Y stops accelerating when you reach your set cruising speed, if changing lanes takes too long,
or if Model SModel XModel 3Model Y gets too close the vehicle ahead. Model SModel XModel 3Model Y also stops
accelerating if you disengage the turn signal.

Stop Light and Stop Sign Warning
While Autopilot is in use, Model SModel XModel 3Model Y displays a warning on the instrument clustertouchscreen 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).

Emergency Vehicles
Model SModel XModel 3Model Y 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 clustertouchscreen 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 (or steering wheel). 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 XModel 3Model Y may
not detect lights from emergency vehicles. Keep your eyes on your driving path and always be prepared to take immediate
action.

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Driver Attentiveness
Autosteer determines how best to steer Model SModel XModel 3Model Y. 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 clustertouchscreen and the following message displays:
Steering yoke alert:
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
clustertouchscreen 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