WARNING: When you release the button to stop Model SModel XModel 3Model Y, a slight delay occurs before the
vehicle stops. Therefore, it is critical that you pay close attention to the vehicle’s driving path at all times and proactively
anticipate obstacles that the vehicle may be unable to detect.
WARNING: Use extreme caution when using Smart Summon in environments where movement of obstacles can be
unpredictable. For example, where people, children or animals are present.
WARNING: Smart Summon may not stop for all objects (especially very low objects such as some curbs, or very high
objects such as a shelf) and may not react to all oncoming or side traffic. Pay attention and be ready to stop
Model SModel XModel 3Model Y at all times by releasing the button on the mobile app.

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Lane Assist
Model SModel XModel 3Model Y monitors the markers on the lane you are driving in as well as the surrounding areas for the
presence of vehicles or other objects.
NOTE: For vehicles manufactured as of approximately October 2022, Lane Assist does not show visualizations (colored lines
on the instrument clustertouchscreen corresponding to detected objects) when Model SModel XModel 3Model Y is in motion,
or the visualizations may not look exactly as described.
NOTE: For vehicles manufactured as of approximately October 2022, Lane Assist does not show visualizations (colored lines
on the instrument clustertouchscreen corresponding to detected objects) when Model SModel XModel 3Model Y is in motion,
or the visualizations may not look exactly as described.
NOTE: For vehicles manufactured as of approximately January 2023, Lane Assist does not show visualizations (colored lines
on the instrument clustertouchscreen corresponding to detected objects) when Model SModel XModel 3Model Y is in motion,
or the visualizations may not look exactly as described.
NOTE: For vehicles manufactured as of approximately late May 2023, Lane Assist does not show visualizations (colored lines
on the instrument clustertouchscreen corresponding to detected objects) when Model SModel XModel 3Model Y is in motion,
or the visualizations may not look exactly as described.
When an object is detected in your blind spot or near the side of Model SModel XModel 3Model Y (such as a vehicle, guard
rail, etc.), the instrument clustertouchscreen displays colored lines radiating from the image of your vehicle. The location of
the lines correspond to the location of the detected object. The color of the lines (white, yellow, orange, or red) represent the
object's proximity to Model SModel XModel 3Model Y, with white being the farthest and red being the closest and requiring
your immediate attention. These colored lines only display when driving between approximately 7 and 85 mph (12 and 140
km/h). When Autosteer is active, these colored lines also display if driving slower than 7 mph (12 km/h). However, the colored
lines do not display if Model SModel XModel 3Model Y is at a standstill (for example, in heavy traffic).
When an object is detected in your blind spot or near the side of Model SModel XModel 3Model Y (such as a vehicle, guard
rail, etc.), the instrument clustertouchscreen displays colored lines radiating from the image of your vehicle. The location of
the lines correspond to the location of the detected object. The color of the lines (white, yellow, orange, or red) represent the
object's proximity to Model SModel XModel 3Model Y, with white being the farthest and red being the closest and requiring
your immediate attention. These colored lines only display when driving between approximately 7 and 85 mph (12 and 140
km/h). When Autosteer is active, these colored lines also display if driving slower than 7 mph (12 km/h). However, the colored
lines do not display if Model SModel XModel 3Model Y is at a standstill (for example, in heavy traffic).

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NOTE: Enabling Tesla Vision Park Assist disables Lane Assist visualizations. For more information, see Park Assist on page
479.
WARNING: 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.
WARNING: Lane Assist features are for guidance purposes only and are not intended to replace your own direct visual
checks. Before changing lanes, always use side mirrors and perform the appropriate shoulder checks to visually
determine if it is safe and appropriate to change lanes.
WARNING: Never depend on Lane Assist to inform you if you unintentionally drive outside of the driving lane, or to
inform you that there is a vehicle beside you or in your blind spot. Several external factors can reduce the performance
of Lane Assist (see Limitations and Inaccuracies on page 634). It is the driver's responsibility to stay alert and pay
attention to the driving lane and other road users. Failure to do so can result in serious injury or death.

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Steering Interventions
Lane Assist provides steering interventions if Model SModel XModel 3Model Y drifts into (or close to) an adjacent lane in
which an object, such as a vehicle, is detected. In these situations, Model SModel XModel 3Model Y automatically steers to a
safer position in the driving lane. This steering is applied only when Model SModel XModel 3Model Y is traveling between 30
and 85 mph (48 and 140 km/h) on major roads with clearly visible lane markings. When a steering intervention is applied, the
instrument paneltouchscreen briefly displays a warning message.

Lane Departure Warning
Lane Departure Warning alerts you of undesired lane departures by slightly vibrating the steering wheelsteering yoke (or
steering wheel) if a front wheel passes over a lane marking when the associated turn signal is off. To turn this warning on or off,
touch Controls > Autopilot > Lane Departure Warning. Lane Departure Warning is active only when driving between
approximately 40 and 90 mph (64 and 145 km/h).

Lane Departure Avoidance
Lane Departure Avoidance is designed to warn you if Model SModel XModel 3Model Y is drifting out of, or nears the edge of,
your driving lane.
Lane Departure Avoidance operates when driving between 40 and 90 mph (64 and 145 km/h) on roads with clearly visible lane
markings. You can choose if and how you want Lane Departure Warning to operate by touching Controls > Autopilot > Lane
Departure Avoidance and selecting between these options:
• Off: You are not warned of lane departures or potential collisions with a vehicle in an adjacent lane.
• Warning: If a front wheel passes over a lane marking, a blue indicator line appears on the instrument clustertouchscreen
and the steering wheelsteering yoke (or steering wheel) vibrates. (For vehicles equipped with Full Self-Driving
(Supervised): if a front wheel passes over a lane marking, the steering wheelsteering yoke (or steering wheel) vibrates.)
• Assist: A blue indicator line, corresponding to the line being crossed by the vehicle, appears on the touchscreen.
Corrective steering is applied to keep Model SModel XModel 3Model Y in a safe position if Model SModel XModel 3Model
Y drifts into an adjacent lane or near the edge of the road.
When Lane Departure Avoidance is enabled and Traffic-Aware Cruise Control is active, if Model SModel XModel 3Model Y
drifts out of the driving lane when the associated turn signal is off, Lane Assist also checks to see whether your hands are on
the steering wheelsteering yoke (or steering wheel). If hands are not detected, the instrument paneltouchscreen displays a
series of alerts, similar to those that are used when driving with Autosteer. If hands are repeatedly not detected
Model SModel XModel 3Model Y gradually slows down to 15 mph (25 km/h) below the detected speed limit, or below the set
cruising speed, and the hazard lights start flashing.
NOTE: Lane Departure Avoidance does not warn you of lane departures, or provide steering interventions, if the associated
turn signal is on, which indicates an intentional lane change.
WARNING: Lane Departure Avoidance is intended to help keep you safe, but it does not work in every situation and does
not replace the need to remain attentive and in control.
WARNING: Keep your hands on the steering wheelsteering yoke (or steering wheel) and drive attentively at all times.
WARNING: Steering interventions are minimal and are not designed to move Model SModel XModel 3Model Y out of its
driving lane. Do not rely on steering interventions to avoid side collisions.

Emergency Lane Departure Avoidance
Emergency Lane Departure Avoidance automatically applies steering to avoid a potential collision in situations where:
• Model SModel XModel 3Model Y is departing a lane and may collide with a vehicle traveling in the same direction in the
adjacent lane (regardless of the status of the turn signal).
• Model SModel XModel 3Model Y is departing a lane into an oncoming lane, the turn signal is off, and an oncoming vehicle
is detected.
• Model SModel XModel 3Model Y is departing the road and the turn signal is off (for example, very close to the edge of the
road and a collision may occur).
To turn this feature on or off, touch Controls > Autopilot > Emergency Lane Departure Avoidance.
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When Emergency Lane Departure Avoidance applies steering, a chime sounds and the instrument paneltouchscreen displays a
warning and highlights the lane marking in red.
Emergency Lane Departure Avoidance operates when Model SModel XModel 3Model Y is traveling between 40 and 90 mph
(64 and 145 km/h) on a road with clearly visible lane markings, curbs, etc.
WARNING: Emergency Lane Departure Avoidance is not a substitute for attentive driving and sound judgment. Keep
your eyes on the road when driving and never depend on Emergency Lane Departure Avoidance to prevent a collision.
Several factors can reduce or impair performance. Depending on Emergency Lane Departure Avoidance to prevent a
potential collision can result in serious injury or death.

Blind Spot Assist
Automatic Blind Spot Camera
You can turn it on/off by touching Controls > Autopilot > Automatic Blind Spot Camera on the touchscreen.
Once enabled, when the turn signal is engaged, the touchscreen displays the image from the corresponding side repeater
camera. When a vehicle is detected in your blind spot in an adjacent lane, a vertical red bar appears on the image to warn you.
For example, when the left turn signal is engaged and a vehicle is detected, a vertical red bar appears on the left side of the
image. You can move the image to a different location on the touchscreen. To do so, touch and drag the image to the new
location (valid locations are indicated by shaded areas that display when you touch and hold the image).
WARNING: Automatic Blind Spot Camera does not eliminate the need to drive attentively and manually perform shoulder
checks when changing lanes.
Blind Spot Collision Warning Chime
If you want a chime to sound when a vehicle is in your blind spot and a possible collision is detected, touch Controls >
Autopilot > Blind Spot Collision Warning Chime.
WARNING: Blind Spot Camera does not eliminate the need to drive attentively and manually perform shoulder checks
when changing lanes.
WARNING: Blind Spot Collision Warning Chime cannot detect every collision. It is the driver's responsibility to remain
alert and perform the appropriate shoulder checks when changing lanes.
Blind Spot Warning Light
Both front door pillars are equipped with a blind spot warning light in the upper speaker grille. You can enable or disable the
indicators by touching Controls > Safety > Blind Spot Warning Light. When a vehicle is detected in your blind spot in an
adjacent lane a red light appears in the upper speaker grille.
• A solid red light indicates a vehicle has been detected in your blind spot.
• A blinking red light indicates that a vehicle is in your blind spot while the turn signal is indicating your intent to turn that
direction.
• A rapid blinking red light indicates that a vehicle is detected and immediate corrective action is required to avoid a
collision.

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WARNING: Do not rely on Blind Spot Warning Light to detect a vehicle in your blind spot. Always visually confirm that a
lane is free from obstacles and vehicles before exiting your lane.

Limitations and Inaccuracies
Lane Assist features cannot always detect lane markings and you may experience unnecessary or invalid warnings when:
• Visibility is poor and lane markings are not clearly visible (due to heavy rain, snow, fog, etc.).
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• A vehicle in front of Model SModel XModel 3Model Y is blocking the view of the camera(s).
• The windshield is obstructing the view of the camera(s) (fogged over, dirty, covered by a sticker, etc.).
• Lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction, or are
changing quickly (for example, lanes branching off, crossing over, or merging).
• The road is narrow or winding.
• Objects or landscape features are casting strong shadows on lane markers.
Lane Assist may not provide warnings, or may apply inappropriate warnings, when:
• One or more of the sensors (if equipped), or cameras is damaged, dirty, or obstructed (by mud, ice, or snow, or by a vehicle
bra, excessive paint, or adhesive products such as wraps, stickers, rubber coatings, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• An object that is mounted to Model SModel XModel 3Model Y is interfering with and/or obstructing a sensor (such as a
bike rack or a bumper sticker).
In addition, Lane Assist may not steer Model SModel XModel 3Model Y away from an adjacent vehicle, or may apply
unnecessary or inappropriate steering, in these situations:
• You are driving Model SModel XModel 3Model Y on sharp corners or on a curve at a relatively high speed.
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• You are drifting into another lane but an object (such as a vehicle) is not present.
• A vehicle in another lane cuts in front of you or drifts into your driving lane.
• Model SModel XModel 3Model Y is not traveling within the speeds at which the Lane Assist feature is designed to operate.
• One or more of the sensors (if equipped) 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.).

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• 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.
• An object mounted to Model SModel XModel 3Model Y (such as a bike rack or a bumper sticker) is interfering with or
obstructing a sensor.
• Visibility is poor and lane markings are not clearly visible (due to heavy rain, snow, fog, etc.).
• Lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction or are
changing quickly (for example, lanes branching off, crossing over, or merging).
CAUTION: Driver assistance features are automatically disabled when Track Mode is On. It is the driver’s responsibility
to drive safely and be in control of the vehicle at all times, including on track. Driver Assistance features automatically
re-enable when Track Mode is turned Off.
WARNING: The lists above do not represent every possible situation that may interfere with Lane Assist features. There
are many reasons why Lane Assist may not operate as intended. To avoid a collision, stay alert and always pay attention
to the road so you can anticipate the need to take corrective action as early as possible.

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Collision Avoidance Assist
If your Model SModel XModel 3Model Y is equipped with Autopilot components (see Cameras on page 101), the following
collision avoidance features are designed to increase the safety of you and your passengers:
The following collision avoidance features are designed to increase the safety of you and your passengers:
• Forward Collision Warning - provides visual and audible warnings in situations when Model SModel XModel 3Model Y
detects that there is a high risk of a frontal collision (see Forward Collision Warning on page 636).
• Automatic Emergency Braking - automatically applies braking to reduce the impact of a collision (see Automatic Emergency
Braking on page 639Automatic Emergency Braking on page 640).
• Obstacle-Aware Acceleration - reduces acceleration if Model SModel XModel 3Model Y detects an object in its immediate
driving path (see Obstacle-Aware Acceleration on page 641).
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.
WARNING: Forward Collision Warning is for guidance purposes only and is not a substitute for attentive driving and
sound judgment. Keep your eyes on the road when driving and never depend on Forward Collision Warning to warn you
of a potential collision. Several factors can reduce or impair performance, causing either unnecessary, invalid,
inaccurate, or missed warnings. Depending on Forward Collision Warning to warn you of a potential collision can result
in serious injury or death.
WARNING: Automatic Emergency Braking is not designed to prevent all collisions. In certain situations, it can minimize
the impact of a collision by attempting to reduce your driving speed. Depending on Automatic Emergency Braking to
avoid a collision can result in serious injury or death.
WARNING: Obstacle-Aware Acceleration is not designed to prevent a collision. In certain situations, it can minimize the
impact of a collision. Depending on Obstacle-Aware Acceleration to avoid a collision can result in serious injury or
death.

Forward Collision Warning
Model SModel XModel 3Model Y monitors the area in front of it for the presence of an object such as a vehicle, motorcycle,
bicycle, or pedestrian. If a collision is considered likely unless you take immediate corrective action, Forward Collision Warning
is designed to sound a chime and highlight the vehicle in front of you in red on the instrument paneltouchscreen. If this
happens, TAKE IMMEDIATE CORRECTIVE ACTION!

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Visual and audible warnings cancel automatically when the risk of a collision has been reduced (for example, you have
decelerated or stopped Model SModel XModel 3Model Y, or the object in front of your vehicle has moved out of your driving
path).
If immediate action is not taken when Model SModel XModel 3Model Y issues a Forward Collision Warning, Automatic
Emergency Braking (if enabled) may automatically apply the brakes if a collision is considered imminent (see Automatic
Emergency Braking on page 639Automatic Emergency Braking on page 640).
By default, Forward Collision Warning is turned on. To turn off or adjust sensitivity, touch Controls > Autopilot > Forward
Collision Warning. Instead of the default warning level of Medium, you can turn the warning Off, or you can choose to be
warned Late or Early.
NOTE: Your chosen setting is retained until you manually change it.
WARNING: The camera(s) and sensors (if equipped) associated with Forward Collision Warning are designed to monitor
an approximate area of up to 525 feet (160 meters) in your driving path. The area being monitored by Forward Collision
Warning can be adversely affected by road and weather conditions. Use appropriate caution when driving.
WARNING: Forward Collision Warning is designed only to provide visual and audible alerts. It does not attempt to apply
the brakes or decelerate Model SModel XModel 3Model Y. When seeing and/or hearing a warning, it is the driver's
responsibility to take immediate corrective action.
WARNING: Forward Collision Warning may provide a warning in situations where the likelihood of collision may not exist.
Stay alert and always pay attention to the area in front of Model SModel XModel 3Model Y so you can anticipate
whether any action is required.
Forward Collision Warning operates only when driving between approximately 7 mph (10 km/h) and 90 mph (150 km/h).
Forward Collision Warning operates only when driving between approximately 7 mph (10 km/h) and 90 mph (150 km/h).
Forward Collision Warning operates only when driving between approximately 3 mph (5 km/h) and 124 mph (200 km/h).
Forward Collision Warning operates only when driving between approximately 3 mph (5 km/h) and 124 mph (200 km/h).
WARNING: Forward Collision Warning does not provide a warning when the driver is already applying the brake.

Automatic Emergency Braking
Model SModel XModel 3Model Y is designed to determine the distance from detected objects. When a collision is considered
unavoidable, Automatic Emergency Braking is designed to apply the brakes to reduce the vehicle's speed and therefore, the
severity of the impact. The amount of speed that is reduced depends on many factors, including driving speed and
environment.
When Automatic Emergency Braking applies the brakes, the instrument paneltouchscreen displays a visual warning and
sounds a chime. You may also notice abrupt downward movement of the brake pedal. The brake lights turn on to alert other
road users that you are slowing down.
Emergency braking in progress

Automatic Emergency Braking operates only when driving between approximately 6 mph (10 km/h) and 90 mph (150 km/h).
Automatic Emergency Braking operates only when driving between approximately 5 mph (8 km/h) and 90 mph (150 km/h).
Automatic Emergency Braking operates only when driving between approximately 3 mph (5 km/h) and 124 mph (200 km/h).
Automatic Emergency Braking operates only when driving between approximately 3 mph (5 km/h) and 124 mph (200 km/h).
Automatic Emergency Braking does not apply the brakes, or stops applying the brakes, when:
• You turn the steering wheelsteering yoke (or steering wheel) sharply.
• You press and release the brake pedal while Automatic Emergency Braking is applying the brakes.
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• You accelerate hard while Automatic Emergency Braking is applying the brakes.
• The vehicle, motorcycle, bicycle, or pedestrian is no longer detected in the front or rear of the vehicle.
Automatic Emergency Braking is always enabled when you start Model SModel XModel 3Model Y. To disable for your current
drive, shift into Park and touch Controls > Autopilot > Automatic Emergency Braking. Even if you disable Automatic Emergency
Braking, your vehicle may still apply the brakes after detecting an initial collision to reduce further impact (see Multi-Collision
Braking on page 641). When disabled, the touchscreen displays a visual message.
Automatic Emergency Braking is disabled

WARNING: It is strongly recommended that you do not disable Automatic Emergency Braking. If you disable it,
Model SModel XModel 3Model Y does not automatically apply the brakes in situations where a collision is considered
likely.
NOTE: Automatic Emergency Braking is designed to reduce the impact of frontal collisions only.
NOTE: Automatic Emergency Braking is designed to reduce the impact of frontal and reverse collisions with limited
functionality while in Reverse.
In the event Automatic Emergency Braking is unavailable, the touchscreen displays a visual warning.
Automatic Emergency Braking is not available

WARNING: Automatic Emergency Braking is designed to reduce the severity of an impact. It is not designed to avoid a
collision.
WARNING: Several factors can affect the performance of Automatic Emergency Braking, causing either no braking or
inappropriate or untimely braking, such as when a vehicle is partially in the path of travel or there is road debris. It is the
driver’s responsibility to drive safely and remain in control of the vehicle at all times. Never depend on Automatic
Emergency Braking to avoid or reduce the impact of a collision.
WARNING: Automatic Emergency Braking is not a substitute for maintaining a safe traveling distance between you and
the vehicle in front of you.
WARNING: The brake pedal moves downward abruptly during automatic braking events. Always ensure that the brake
pedal can move freely. Do not place material under or on top of the driver’s floor mat (including an additional mat) and
always ensure that the driver’s floor mat is properly secured. Failure to do so can impede the ability of the brake pedal to
move freely.

Automatic Emergency Braking
Model SModel XModel 3Model Y is designed to determine the distance from detected objects. When a collision is considered
unavoidable, Automatic Emergency Braking is designed to apply the brakes to reduce the vehicle's speed and therefore, the
severity of the impact. The amount of speed that is reduced depends on many factors, including driving speed and
environment.
When Automatic Emergency Braking applies the brakes, the instrument paneltouchscreen displays a visual warning and
sounds a chime. You may also notice abrupt downward movement of the brake pedal. The brake lights turn on to alert other
road users that you are slowing down.
Emergency braking in progress

Automatic Emergency Braking operates only when driving between approximately 6 mph (10 km/h) and 90 mph (150 km/h).
Automatic Emergency Braking operates only when driving between approximately 5 mph (8 km/h) and 90 mph (150 km/h).
Automatic Emergency Braking operates only when driving between approximately 3 mph (5 km/h) and 124 mph (200 km/h).

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Automatic Emergency Braking operates only when driving between approximately 3 mph (5 km/h) and 124 mph (200 km/h).
Automatic Emergency Braking does not apply the brakes, or stops applying the brakes, when:
• You turn the steering wheelsteering yoke (or steering wheel) sharply.
• You press and release the brake pedal while Automatic Emergency Braking is applying the brakes.
• You accelerate hard while Automatic Emergency Braking is applying the brakes.
• The vehicle, motorcycle, bicycle, or pedestrian is no longer detected in the front or rear of the vehicle.
Automatic Emergency Braking is always enabled when you start Model SModel XModel 3Model Y. To disable it for your
current drive, touch Controls > Autopilot > Automatic Emergency Braking. Even if you disable Automatic Emergency Braking,
your vehicle may still apply the brakes after detecting an initial collision to reduce further impact (see Multi-Collision Braking
on page 641).
NOTE: Automatic Emergency Braking is designed to reduce the impact of frontal collisions only.
NOTE: Automatic Emergency Braking is designed to reduce the impact of frontal and reverse collisions with limited
functionality while in Reverse.
WARNING: It is strongly recommended that you do not disable Automatic Emergency Braking. If you disable it,
Model SModel XModel 3Model Y does not automatically apply the brakes in situations where a collision is considered
likely.
WARNING: Automatic Emergency Braking is designed to reduce the severity of an impact. It is not designed to avoid a
collision.
WARNING: Several factors can affect the performance of Automatic Emergency Braking, causing either no braking or
inappropriate or untimely braking, such as when a vehicle is partially in the path of travel or there is road debris. It is the
driver’s responsibility to drive safely and remain in control of the vehicle at all times. Never depend on Automatic
Emergency Braking to avoid or reduce the impact of a collision.
WARNING: Automatic Emergency Braking is not a substitute for maintaining a safe traveling distance between you and
the vehicle in front of you.
WARNING: The brake pedal moves downward abruptly during automatic braking events. Always ensure that the brake
pedal can move freely. Do not place material under or on top of the driver’s floor mat (including an additional mat) and
always ensure that the driver’s floor mat is properly secured. Failure to do so can impede the ability of the brake pedal to
move freely.

Multi-Collision Braking
In addition to Automatic Emergency Braking, Model SModel XModel 3Model Y may apply the brakes to prevent or mitigate a
subsequent impact after an initial collision if airbag deployment is detected. The brakes may be applied regardless of driving
speed.

Obstacle-Aware Acceleration
Obstacle-Aware Acceleration is designed to reduce the impact of a collision by reducing motor torque and in some cases
applying the brakes, if Model SModel XModel 3Model Y detects an object in its driving path. The instrument
paneltouchscreen displays a visual warning and sounds a chime when the brakes are automatically applied. For example,
Model SModel XModel 3Model Y, while parked in front of a closed garage door with Drive engaged, detects that you have
pressed hard on the accelerator pedal. Although Model SModel XModel 3Model Y still accelerates and hits the garage door,
the reduced torque may result in less damage.
Obstacle-Aware Acceleration is designed to operate only when all of these conditions are simultaneously met:
• Drive or Reverse is engaged.
• Model SModel XModel 3Model Y is stopped or traveling less than 10 mph (16 km/h).
• Model SModel XModel 3Model Y detects an object in its immediate driving path.
To disable Obstacle-Aware Acceleration, touch Controls > Autopilot > Obstacle-Aware Acceleration.
WARNING: Obstacle-Aware Acceleration is designed to reduce the severity of an impact. It is not designed to avoid a
collision.
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WARNING: Obstacle-Aware Acceleration may not limit torque in all situations, such as performing a sharp turn into a
parking space. Several factors, including environmental conditions, distance from an obstacle, and a driver's actions,
can limit, delay, or inhibit Obstacle-Aware Acceleration.
WARNING: Do not rely on Obstacle-Aware Acceleration to control acceleration or to avoid, or limit, the severity of a
collision, and do not attempt to test Obstacle-Aware Acceleration. Doing so can result in serious property damage,
injury, or death.
WARNING: Several factors can affect the performance of Obstacle-Aware Acceleration, causing an inappropriate or
untimely reduction in motor torque and/or undesired braking. It is the driver's responsibility to drive safely and remain in
control of Model SModel XModel 3Model Y at all times.

Limitations and Inaccuracies
Collision Avoidance features cannot always detect all objects, vehicles, bikes, or pedestrians, and you may experience
unnecessary, inaccurate, invalid, or missed warnings for many reasons, particularly if:
• The road has sharp curves.
• Visibility is poor (due to heavy rain, snow, fog, etc.).
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• A camera or sensor is obstructed (dirty, covered, fogged over, covered by a sticker, etc.).
• One or more of the sensors (if equipped) 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.
CAUTION: If a fault occurs with a Collision Avoidance Assist feature, Model SModel XModel 3Model Y displays an alert.
Contact Tesla Service.
CAUTION: Driver assistance features are automatically disabled when Track Mode is On. It is the driver’s responsibility
to drive safely and be in control of the vehicle at all times, including on track. Driver Assistance features automatically
re-enable when Track Mode is turned Off.
WARNING: The limitations previously described do not represent an exhaustive list of situations that may interfere with
proper operation of Collision Avoidance Assist features. These features may fail to provide their intended function for
many other reasons. It is the driver’s responsibility to avoid collisions by staying alert, paying attention, and taking
corrective action as early as possible.

Speed Assist
How Speed Assist Works
Model SModel XModel 3Model Y displays a speed limit on the instrument paneltouchscreen and you can choose if and how
you are warned when you exceed the speed limit. In addition, a blue outline may appear around the speed limit icon to notify
that you are above the speed limit.
Instead of using the detected speed limit, you can base warnings on an arbitrary speed limit that you enter manually.
NOTE: When using Traffic-Aware Cruise Control, you can touch this speed limit sign to change your set cruising speed to the
detected speed limit (including any offsets that you have set).

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In situations where Model SModel XModel 3Model Y is unable to determine a speed limit, or if Speed Assist is uncertain that
an acquired speed limit is accurate, the instrument paneltouchscreen may not display a speed limit sign and warnings do not
take effect.
NOTE: Speed limit warnings go away after ten seconds, or when Model SModel XModel 3Model Y slows down below the
specified limit.
WARNING: Do not rely on Speed Assist to determine the appropriate speed limit or driving speed. Always drive at a safe
speed based on traffic and road conditions.

Owner's Manual

1303

Active Safety Features
Controlling Speed Assist
To adjust the Speed Limit Warning setting, touch Controls > Autopilot > Speed Limit Warning, then choose one of these
options:
• Off - Speed limit warnings do not display and chimes are not sounded.
• Display - Speed limit signs display on the instrument paneltouchscreen and the sign increases in size when you exceed the
determined limit.
• Chime - In addition to the visual display, a chime is sounded when you exceed the determined speed limit.
You can also specify how the speed limit is determined:
• Relative - You can set a speed limit offset (+ or -) if you want to be alerted only when you exceed the offset speed limit by a
specified amount. For example, you can increase the offset to +10 mph (10 km/h) if you only want to be warned when you
exceed the speed limit by 10 mph (10 km/h).
NOTE: The offset from speed limit also affects the number shown in the gray speed icon on the instrument
paneltouchscreen.
• Absolute - Manually specify any speed limit between 20 and 140 mph (30 and 240 km/h).
NOTE: Speed Assist is not always accurate. In some situations, the location of a road can be miscalculated and Speed Assist
can display a speed for a directly adjacent road that may have a different speed limit. For example, Speed Assist can assume
Model SModel XModel 3Model Y is on a controlled-access highway when it is actually on a nearby surface street, and vice
versa.
NOTE: Your chosen setting is retained until you manually change it.

Limitations and Inaccuracies
Speed Assist may not be fully functional or may provide inaccurate information in these situations:
• Visibility is poor and speed limit signs are not clearly visible (due to heavy rain, snow, fog, etc.).
• Bright light (such as from oncoming headlights or direct sunlight) is interfering with the view of the camera(s).
• 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).
• The windshield is obstructing the view of the camera(s) (fogged over, dirty, covered by a sticker, etc.).
• Speed limit signs are concealed by objects.
• The speed limits stored in the map database are incorrect or outdated.
• Model SModel XModel 3Model Y is being driven in an area where GPS or map data is not available or where speed limit
signs can not be detected.
• Traffic signs that do not conform to standard recognizable formats, such as digital or temporary speed signs.
• A road or a speed limit has recently changed.
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of
Speed Assist. Speed Assist may fail to provide warnings for many other reasons.

1304

Owner's Manual

Dashcam, Sentry, and Security
Safety & Security Settings
About the Security System
If Model SModel XModel 3Model Y does not detect a key nearby and a locked door or trunk is opened, an alarm sounds. The
headlights and turn signals also flash. To deactivate the alarm, press any button on the key fob.
If Model SModel XModel 3Model Y does not detect an authenticated phone or key and a locked door or trunk is opened, an
alarm sounds. The headlights and turn signals also flash. To deactivate the alarm, press any button on the mobile app or tap
your key card or key fob or key fob against the card reader located just below the Autopilot camera on the driver's side door
pillarapproximately one third the way up of the driver's side door pillar.
To manually enable or disable the alarm system, touch Controls > Safety > Security Alarm. When enabled,
Model SModel XModel 3Model Y activates its alarm one minute after you exit, the doors lock, and a recognized key is no
longer detected.
A battery-backed siren (if equipped) sounds in situations where a locked door or trunk is opened and Model SModel XModel
3Model Y does not detect a key nearby. If you also want this siren to sound in situations where the vehicle detects motion
inside the cabin, enable Tilt/Intrusion (see Tilt/Intrusion (if equipped) on page 650).
NOTE: If Model SModel XModel 3Model Y is in Sentry Mode (see How to Use Sentry Mode (With a USB Flash Drive) on page
655), the Security Alarm setting is not available.

Tilt/Intrusion (if equipped)
Depending on configuration, market region, and date of manufacture, your vehicle may not be equipped with this feature.
The Security Alarm must be on to enable Tilt/Intrusion.
Tilt/Intrusion sounds the alarm in your vehicle if Model SModel XModel 3Model Y detects motion inside the cabin, or is moved
or tilted (for example, with a tow truck or jack). To enable, touch Controls > Safety > Tilt/Intrusion.
The intrusion sensor automatically disables in situations where the climate control system is operating when you leave your
vehicle. To override, you can manually turn the Tilt/Intrusion Sensor on again after choosing Keep Climate On, Dog, or Camp
Mode.
The tilt/intrusion sensor automatically re-enables at the start of every drive cycle.
NOTE: The Tilt/Intrusion alarm must be turned off to use Cabin Overheat Protection (see Cabin Overheat Protection on page
669).
NOTE: If you plan to leave something that moves inside your locked vehicle, remember to turn off Tilt/Intrusion. If this setting is
on, any motion detected inside Model SModel XModel 3Model Y activates the intrusion alarm.
NOTE: If Model SModel XModel 3Model Y is in Sentry Mode (see How to Use Sentry Mode (With a USB Flash Drive) on page
655), the Tilt/Intrusion setting is not available.

Enhanced Anti-Theft Upgrade (if equipped)
If your vehicle is equipped with the Enhanced Anti-Theft upgrade, the horn sounds in situations where a locked door or trunk
is opened and Model SModel XModel 3Model Y does not detect a key nearby. If Tilt/Intrusion is on, the horn also sounds if
Model SModel XModel 3Model Y detects motion inside the cabin or if the vehicle is moved or tilted (for example, with a tow
truck or jack). To turn the Tilt/Intrusion detection system on or off, touch Controls > Safety > Tilt/Intrusion.

Parental Controls
Parental controls enable you to limit the capabilities of Model SModel XModel 3Model Y and ensure that safety settings are
enabled and cannot be changed.
NOTE: You can also access parental controls from the Tesla mobile app (version 4.34.5 or higher required).
When you enable Require Safety Features, Model SModel XModel 3Model Y enables or configures these vehicle settings:
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be
equipped with the listed features.
Owner's Manual

1305

Dashcam, Sentry, and Security
• Automatic Emergency Braking
• Obstacle-Aware Acceleration
• Automatic Blind Spot Camera
• Blind Spot Collision Warning Chime
• Automatic 911 Call
• Allow Mobile Access
• Park Assist Chimes
• Lane Departure Avoidance: Set to Assist.
• Speed Limit Warning: Set to Chime.
• Forward Collision Warning: Set to Early.
If you want to enable parental controls:
1. With your vehicle in Park, touch Controls > Safety > Parental Controls on the touchscreen.
2. Enable or configure the parental controls you want to use:
◦ Limit Speed: Caps the speed at which Model SModel XModel 3Model Y can drive.
◦ Reduce Acceleration: Limits the vehicle Acceleration to Chill.