2021 Tesla Model S Autopilot Quick Guide

In 2021, Tesla released the much-anticipated Model S with an updated Autopilot system. This set a new bar for electric cars and technology that helps them drive themselves. When the 2021 Tesla Model S Autopilot finally came out after a long wait, it was a big step forward for electric cars. This high-tech system combines cameras, radar, and sound sensors with Tesla’s powerful onboard computer to make driving safer and more enjoyable. The 2021 Model S Autopilot redefines convenience with features like Traffic-Aware Cruise Control, Autosteer, and Full Self-Driving. It also offers a safer and more efficient trip on the road. Tesla’s promise to keep improving its Autopilot technology shows that the company is committed to pushing the limits of what electric cars can do. This makes Tesla a great choice for people who want to be on the cutting edge of automotive innovation in the future.

About Autopilot

How It Works

Your Model S includes the following Autopilot components that actively monitor the surrounding area:

1. A camera is mounted above the rear license plate.
2. Ultrasonic sensors are located in the front and rear bumpers.
3. A camera is mounted in each door pillar.
4. Three cameras are mounted to the windshield above the rear view mirror.
5. A camera is mounted to each front fender.
6. Radar is mounted behind the front bumper.

Model S is also equipped with high precision electronically-assisted braking and steering systems.
NOTE: Ensure all cameras and sensors are clean before each drive. See Cleaning Cameras and Sensors on page 86 for more information. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, can affect Autopilot performance.

Features

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with all Autopilot features listed below, or a feature may not operate exactly as described.
These Autopilot features are designed to increase your safety:

• Lane Assist (see Lane Assist on page 119)
• Collision Avoidance Assist (see Collision Avoidance Assist on page 122)
• Speed Assist (see Speed Assist on page 126)
•  Auto High Beam (see High Beam Headlights on page 57)
  These Autopilot convenience features are designed to reduce driver workload:
•  Traffic-Aware Cruise Control (see Traffic-Aware Cruise Control on page 87)
•  Autosteer (see Autosteer on page 93)
• Auto Lane Change (see Auto Lane Change on page 95)
• Autopark (see Autopark on page 109)
• Summon (see Summon on page 111)
• Smart Summon (Smart Summon on page 115)
• Navigate on Autopilot (see Navigate on Autopilot on page 98)
• Stop Light and Stop Sign Warning (see Stop Light and Stop Sign Warning on page 96)
• Traffic Light and Stop Sign Control (see Traffic Light and Stop Sign Control on page 101)
  You can enable/disable some of these features and in some cases, control how they work. To access settings, touch Controls > Autopilot.

Drive to Calibrate Cameras
Model S must maneuver with precision when Autopilot features are being used. Therefore, before some features can be used for the firs t time or after some types of service repairs, cameras must complete a self-calibration process. For your convenience, the instrument panel displays a progress indicator.
When calibration is complete, Autopilot features are available for use. Calibration typically completes after driving 20-25 miles (32-40 km), but the distance varies depending on road and environmental conditions. For example, calibration completes quicker when driving on a straight road with multiple lanes, such as a freeway or highway, with highly-visible lane markings (in the driving lane as well as the adjacent lanes). Contact Tesla only if your Model S has not completed the calibration process after driving 100 miles (160 km) in the described conditions.
NOTE: To calibrate, cameras require highly-visible lane markings in both the driving lane as adjacent lanes (at least two lanes over on each side of the vehicle). For best results, drive in the middle lane of a freeway or highway (ideally with at least five lanes) that has clear lane markings and minimal traffic.
NOTE: If you attempt to use a feature that is not available until the calibration process is complete, the feature is disabled and the instrument panel displays a message.
NOTE: Model S must repeat the calibration process if the cameras are serviced by Tesla, and in some cases, after a software update.
NOTE: The self-calibration drive process is only applicable to Model S vehicles built after approximately October 12, 2016.
NOTE: If a camera has shifted from its calibrated position (for example, the camera or windshield was replaced), you must clear the calibration. To do so, touch Controls > Service > Camera Calibration > Clear Calibration. When the calibration is cleared, Model S repeats the calibration process.

Limitations

Many factors can impact the performance of Autopilot components, causing them to be unable to function as intended. These include (but are not limited to):

•  Poor visibility (due to heavy rain, snow, fog, etc.).
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• damage or obstructions caused by mud, ice, snow, etc.
• Interference or obstruction by object(s) mounted onto the vehicle (such as a bike rack).
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
•  Narrow or winding roads.
• A damaged or misaligned body panel.
• Interference from other equipment that generates ultrasonic waves.
• Extremely hot or cold temperatures.

WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of Autopilot components. Never depend on these components to keep you safe. It is the driver’s responsibility to stay alert, drive safely, and be in control of the vehicle at all times.
CAUTION: If a windshield replacement is needed, take your vehicle to Tesla Service. This ensures appropriate handling and mounting of the camera(s). Failure to do so can cause one or more Autopilot features to malfunction.

Cleaning Cameras and Sensors
To ensure the various Autopilot components can provide information that is as accurate as possible, keep them clean and free of obstructions, condensation, or damage. See Cleaning on page 194.
Condensation can form inside the camera enclosures, especially if you park your vehicle outside in cold or wet conditions. The instrument cluster may display an alert stating that a camera is blocked and that some or all Autopilot features may be temporarily restricted until the camera vision is clear. To proactively dry the condensation, precondition the cabin by setting it to a warm temperature, turning the windshield defroster on, and directing the front air vents toward the door pillars (see Mobile App on page 172).

CAUTION: Do not wipe an exposed lens with your hands or a cloth in an attempt to remove dirt or debris. The debris can damage the surface of the lens when wiped.
CAUTION: Do not use chemical-based or abrasive cleaners. Doing so can damage surfaces.
CAUTION: Do not clean an ultrasonic sensor or camera lens with a sharp or abrasive object that can scratch or damage its surface.

Traffic-Aware Cruise Control

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Traffic-Aware Cruise Control, or the feature may not operate exactly as described. If your vehicle is not equipped, refer to the owner’s manual on your vehicle’s touchscreen for instructions on how to use Cruise Control.
NOTE: Traffic-Aware Cruise Control is a BETA feature.
Traffic-Aware Cruise Control determines when there is a vehicle in front of you in the same lane. If the area in front of Model S is clear, Traffic-Aware Cruise Control maintains a set driving speed. When a vehicle is detected, Traffic-Aware Cruise Control is designed to slow down Model S as needed to maintain a selected time-based distance from the vehicle in front, up to the set speed. Traffic-Awar e Cruise Control does not eliminate the need to watch the road in front of you and to manually apply the brakes when needed.
Traffic-Aware Cruise Control is primarily intended for driving on dry, straight roads, such as highways and freeways.

CAUTION: Ensure all cameras and sensors are clean before each drive. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, can affect Autopilot performance.
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 S. Always watch the road in front of you and be prepared to take corrective action at all times. Failure to do so can result in serious injury or death.
WARNING: Although Traffic-Awar e Cruise Control is capable of detecting pedestrians and cyclists, never depend on Traffic-Aware Cruise Control to adequately slow Model S down for them. Always watch the road in front of you and be prepared to take corrective action at all times. Failure to do so can result in serious injury or death.
WARNING: Do not use Traffic-Awar e Cruise Control on winding roads with sharp curves, on icy or slippery road surfaces, or when weather conditions (such as heavy rain, snow, fog, etc.) make it inappropriate to drive at a consistent speed. Traffic-Aware Cruise Control does not adapt driving speed based on road and driving conditions.

To Use Traffic-Aware Cruise Control
To initiate Traffic-Aware Cruise Control when no vehicle is detected ahead of you, you must be driving at least 18 mph (30 km/h), unless certain vehicle and environmental conditions are met, in which case, you may be able to initiate it at lower speeds. If a vehicle is detected ahead of you, you can initiate Traffic-Aware Cruise Control at any speed, even when stationary, provided Model S is at least 5 feet (150 cm) behind the detected vehicle and certain vehicle and environmental conditions are met.
NOTE: The maximum cruising speed is 90 mph (150 km/h). It is the driver’s responsibility to cruise at a safe speed based on road conditions and speed limits.

When Traffic-Aware Cruise Control is available but not engaged and cruising at a specified set speed, the instrument panel displays a gray speedometer icon next to your current driving speed. The number shown in gray represents the cruising speed that will be set when you engage Traffic-Awar e Cruise Control.
When Traffic-Aware Cruise Control is actively cruising at a set cruising speed, the icon turns blue and displays the set cruising speed.

1. Touch Controls > Autopilot > Autosteer Activation and choose Double Click to allow you to use Traffic-Aware Cruise Control independently of Autosteer when you single press the right scroll wheel.
   NOTE: If Autosteer Activation is set to single-click, pressing the right scroll wheel once also activates Autosteer (which includes Traffic-Aware Cruise Control).
2. You can choose whether Traffic-Aware Cruise Control 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. If you choose to engage Traffic-Aware Cruise Control at the currently detected speed limit, you can specify an offset. Touch Controls > Autopilot > Set Speed Offset. You can choose a Fixed offset, in which the cruising speed adjusts by a specific number of mph (km/h) on all roads, or a Percentage offset, in which the cruising speed is adjusted as a percentage of the road’s detected speed limit.
3. To engage in Traffic-Aware Cruise Control, press the right scroll wheel.
   NOTE: If the setting for Autosteer Activation is set to Single Click (touch Controls > Autopilot > Autosteer Activation), Autosteer engages.
4. To change your speed while using Traffic-Aware Cruise Control, you can use the right scroll wheel. For details, see Changing the Cruising Speed on page 88.
5. To cancel Traffic-Aware Cruise Control, press the right scroll wheel, or press the brake pedal. See Canceling and Resuming on page 91 for more information.

Changing the Cruising Speed
Roll the right scroll wheel up to increase, or down to decrease, the set speed. Slowly rolling the scroll wheel changes the set speed in 1 mph (1 km/h) increments and quickly rolling the scroll wheel changes the set speed to the closest 5 mph (5 km/h) increment.

NOTE: It may take a few seconds for Model S to reach the new cruising speed, assuming Model S does not detect a vehicle ahead driving slower than your set speed.

Cruising at the Set Speed
Traffic-Aware Cruise Control maintains your set cruising speed whenever a vehicle is not detected in front of Model S. When cruising behind a detected vehicle, Traffic-Awar e Cruise Control accelerates and decelerates Model S as needed to maintain a chosen following distance (see Adjust the Following Distance on page 90), up to the set speed.
Traffic-Aware Cruise Control also adjusts the cruising speed when entering and exiting curves.
You can manually accelerate at any time when cruising at a set speed, but when you release the accelerator, Traffic-Aware Cruise Control resumes cruising at the set speed.
NOTE: When Traffic-Aware Cruise Control is actively slowing down Model S to maintain the selected distance from the vehicle ahead, brake lights turn on to alert other road users that you are slowing down. You may notice slight movement of the brake pedal. However, when Traffic-Aware Cruise Control is accelerating Model S, the accelerator pedal does not move.

WARNING: Traffic-Aware Cruise Control may occasionally cause Model S to brake when not required or when you are not expecting it. This can be caused by closely following a vehicle ahead, detecting vehicles or objects in adjacent lanes (especially on curves), etc.
WARNING: Due to limitations inherent in the onboard GPS (Global Positioning System), you may experience situations in which Traffic-Aware Cruise Control slows down the vehicle, especially near highway exits where a curve is detected and/or you are actively navigating to a destination and not following the route.
WARNING: Traffic-Aware Cruise Control cannot detect all objects and, especially in situations when you are driving over 50 mph (80 km/h), may not brake/decelerate when a vehicle or object is only partially in the driving lane or when a vehicle you are following moves out of your driving path and a stationary or slow-moving vehicle or object is in front of you. Always pay attention to the road ahead and stay prepared to take immediate corrective action. Depending on Traffic-Aware Cruise Control to avoid a collision can result in serious injury or death. In addition, Traffic-Aware Cruise Control may react to vehicles or objects that either do not exist or are not in the lane of travel, causing Model S to slow down unnecessarily or inappropriately.
WARNING: Traffic-Aware Cruise Control may be unable to provide adequate speed control because of limited braking capability and hills. It can also misjudge the distance from a vehicle ahead. Driving downhill can increase driving speed, causing Model S to exceed your set speed
(and potentially the road’s speed limit). Never depend on Traffic-Aware Cruise Control to slow down the vehicle enough to prevent a collision. Always keep your eyes on the road when driving and be prepared to take corrective action as needed. Depending on Traffic-Aware Cruise Control to slow the vehicle down enough to prevent a collision can result in serious injury or death.

HOLD State
When following a vehicle, Traffic-Awar e Cruise Control remains active at low speeds, even when Model S comes to a full stop. When the vehicle is moving again, Traffic-Aware Cruise Control resumes operating at the set speed. However, under the following circumstances, Traffic-Aware Cruise Control goes into a HOLD state, in which case, you need to briefly press the accelerator pedal to resume cruising. When the HOLD status is active, the instrument panel displays the HOLD icon and a message that indicates that you need to resume cruise control. The following circumstances can cause Traffic-Aware Cruise Control to go into the HOLD state:

• Model S has been at a standstill for 5 minutes.
• Model S detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model S suddenly loses visibility of the vehicle in front of you.
• The ultrasonic sensors detect an obstacle in front of Model S.

Cruising Near or On Freeway Exits
When cruising near an exit on a controlled access road (such as a highway or freeway) and engaging the turn signal toward the exit, Traffic-Aware Cruise Control assumes you are exiting and begins to slow down the vehicle. If you do not drive onto the exit, Traffic-Awar e Cruise Control 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 feet (50 meters) of an exit. Likewise in regions with left hand tr affic; when engaging the left turn signal when driving in the left-most lane within 164 feet (50 meters) of an exit.

When cruising onto an on-ramp to a controlled access road (such as a highway or freeway), Traffic-Aware Cruise Control automatically adjusts the set cruising speed to the speed limit of the highway, plus any offset you have specified (see Speed Assist on page 126).
NOTE: The onboard Global Positioning System (GPS) determines if you are driving in a region with right or left hand traffic. In situations where GPS data is unavailable (for example, if there is inadequate signal), engaging the turn signal near an exit does not cause Traffic-Aware Cruise Control to slow down Model S.

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 Traffic-Aware Cruise Control). 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 speed reverts back to the set speed that was in use 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.

Adjust the Following Distance
To adjust the following distance you want to maintain between Model S and a vehicle traveling ahead of you, touch Controls > Autopilot > Cruise Follow Distance and choose a setting from 1 (the closest following distance) to 7 (the longest following distance). Each setting corresponds to a time-based distance that represents how long it takes for Model S, from its current location, to reach the location of the rear bumper of the vehicle ahead of you.
NOTE: Your setting is retained until you manually change it.

WARNING: It is the driver’s responsibility to determine and maintain a safe following distance at all times. Do not rely on Traffic-Awar e Cruise Control to maintain an accurate or appropriate following distance.
WARNING: Never depend on Traffic-Aware Cruise Control to adequately slow down Model S to avoid a collision. Always watch the road in front of you and stay prepared to take immediate corrective action.

Overtake Acceleration
When following a vehicle with Traffic-Aware Cruise Control active, engaging the turn signal (to indicate a move into the passing lane) accelerates Model S towards the vehicle ahead. By momentarily holding the turn signal, you can quickly accelerate up to your set speed without having to press the accelerator pedal. The turn signal causes acceleration only when all of the following conditions are met:

• 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 S is traveling below the set speed, but over 45 mph (72 km/h).

Overtake Acceleration is intended as an aid when passing a vehicle ahead of you. When the turn signal is engaged, Traffic-Awar e Cruise Control continues to maintain distance from the vehicle ahead, but allows you to drive slightly closer than your selected distance.
Acceleration cancels when one of the conditions happen:

• You reach your set cruising speed.
• Changing lanes takes too long.
• Model S gets too close to the vehicle ahead.
  OR
• You disengage the turn signal.

NOTE: Overtake Acceleration occurs when you fully press and hold the turn signal. When you release the turn signal, Model S stops accelerating (in the same way as when you release the accelerator pedal) and resumes the set speed.
WARNING: Overtake Acceleration can cancel for many unforeseen reasons in addition to those listed above (for example, lack of GPS data). Stay alert and never depend on Overtake Acceleration to increase your driving speed.
WARNING: Overtake Acceleration increases your driving speed whenever the appropriate turn signal is engaged, and accelerates Model S closer to the vehicle ahead. Although Traffic-Aware Cruise Control continues to maintain distance from the vehicle ahead, it is important to be aware that your selected following distance is reduced when Overtake Acceleration is active, particularly in cases where it may not be your intention to overtake the vehicle you are following.

Canceling and Resuming
To manually cancel Traffic-Aware Cruise Control, press the right scroll wheel or press the brake pedal.
NOTE: When Traffic-Aware Cruise Control cancels, Model S does not coast. Instead, regenerative braking slows down Model S 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 67).
WARNING: Traffic-Aware Cruise Control cancels, or may not be available, in the following situations:

• You press the brake pedal.
• Your driving speed exceeds the maximum cruising speed of 90 mph (150 km/h).
• You shift Model S into a different gear.
• A door is opened.
• The view from the radar sensor or camera(s) is obstructed. This could be caused by dirt, mud, ice, snow, fog, etc.
• The traction control setting is manually disabled or is repeatedly engaging to prevent wheels from slipping.
• The wheels are spinning while at a standstill.
• The Traffic-Aware Cruise Control system is failing or requires service.
  When Traffic-Aware Cruise Control is unavailable or cancels, Model S no longer drives consistently at a set speed and no longer maintains a specified distance from the vehicle ahead.
  WARNING: Traffic-Aware Cruise Control can cancel unexpectedly at any time for unforeseen reasons. Always watch the road in front of you and stay prepared to take appropriate action. It is the driver’s responsibility to be in control of Model S at all times.

Summary of Cruise Indicators

Traffic-Aware Cruise Control is available but is not actively controlling your speed until you activate it. The number shown in gray is determined by Speed Assist (see Controlling Speed Assist on page 126).
Traffic-Aware Cruise Control is operating and is either maintaining the set speed (no vehicle in front) or is maintaining a chosen following distance from a vehicle ahead (up to the set speed).
Model S has fully stopped but is in a HOLD state. If safe, press the accelerator pedal to resume cruising at the set speed.

Limitations
Traffic-Aware Cruise Control is particularly unlikely to operate as intended in the following types of situations:

• 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).
• The radar sensor is obstructed (dirty, covered, etc.).
• The windshield is obstructing the view of the camera(s) (fogged over, dirty, covered by a sticker, etc.).
  WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of Traffic-Aware Cruise Control.

FAQ