2023 Tesla Model Y Autopilot

The 2023 Tesla Model Y with Autopilot will take you on a trip where cutting-edge technology and the art of driving come together. This amazing feature, which works perfectly with driving, ushers in a new age of semi-autonomous driving. As soon as you get behind the wheel, Autopilot is ready to help. It uses a complex network of sensors and cameras to keep you in the middle of your lane and a safe distance from other cars. The Model Y’s Autopilot system is more than just a set of features; it’s a combination of human intuition and AI accuracy that works well together. It makes driving on the highway easier with adaptive speed control and the ability to stay in your lane, but it also stresses that everyone has to do their part. From behind the wheel, you’re the director of this symphony, keeping a close eye on things and being ready to step in if needed. The 2023 Model Y with Autopilot changes the way people think about road trips. It offers an experience where technology and human control dance in perfect sync, making the trip safe, comfortable, and inspiring.

About Autopilot

How It Works

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

1. A camera is mounted above the rear license plate.
2. Ultrasonic sensors (if equipped) 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. The radar (if equipped) is mounted behind the front bumper.

Model Y is also equipped with high precision electronically-assisted braking and steering systems.
In addition, the cabin camera can determine driver inattentiveness and provide alerts when Autopilot is engaged. By default, data from the camera does not leave the vehicle itself. In other words, data is not saved or transmitted unless you enable data sharing. To enable data sharing, touch Controls > Software > Data Sharing > Allow Cabin Camera Analytics. Cabin Camera Analytics helps Tesla continue to develop even safer vehicles in the future.

NOTE: Ensure all cameras and sensors (if equipped) are clean before each drive. See Cleaning Cameras and Sensors on page 87 for more information. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, can affect Autopilot performance.

Active Safety Features

These Active Safety features are designed to increase your safety:

• Lane Assist
• Collision Avoidance Assist
• Speed Assist
• Cabin Camera

You can enable/disable some of these features and in some cases, control how they work. To access settings for these features, touch Controls > Autopilot.

Autopilot Features

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

These Autopilot convenience features are designed to reduce driver workload:

• Traffic-Aware Cruise Control
• Autosteer
• Auto Lane Change
• Autopark
• Summon
• Smart Summon
• Stop Light and Stop Sign Warning
• Navigate on Autopilot

Traffic

• Light and Stop Sign Control
• You can enable/disable some of these features and in some cases, control how they work. To access settings associated with these features, touch Controls > Autopilot.

Drive to Calibrate Cameras

Model Y must maneuver with precision when Autopilot features are being used. Therefore, before some features can be used for the first time or after some types of service repairs, cameras must complete a self-calibration process. For your convenience, the touchscreen 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 controlled-access highway), with highly-visible lane markings (in the driving lane as well as the adjacent lanes). Contact Tesla only if your Model Y has not completed the calibration process after driving 100 miles (160 km) in the described conditions.

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 Y repeats the calibration process. While this helps re-calibrate the cameras in many cases, Clear Calibration may not resolve all camera and sensor concerns.

NOTE: To calibrate, cameras require highly-visible lane markings in both the driving lane and adjacent lanes (at least two lanes over on each side of the vehicle). For best results, drive in the middle lane of a multi-lane 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 touchscreen displays a message.
NOTE: Model Y must repeat the calibration process if the cameras are serviced by Tesla, and in some cases, after a software update.

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.
• Use of gray or aftermarket glass.
• Interference from other equipment that generates ultrasonic waves.
• Extremely hot or cold temperatures.

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.

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.

WARNING: Advanced safety features may not be available during the calibration period.

WARNING: Re-calibrating the cameras or sensors on the touchscreen is not a substitute for checking the physical positioning and condition of these components. Walk around your vehicle and inspect the cameras and sensors for physical damage. Incorrectly calibrated or positioned cameras and sensors may limit or disable the use of safety features. Contact Tesla if you suspect lingering issues.

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.
• Condensation can form inside the camera enclosures, especially if you park your vehicle outside in cold or wet conditions. The touchscreen 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.

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 (if equipped) 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 AwareTraffic-AwareCruise 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 Y 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 Y as needed to maintain a selected time-based distance from the vehicle in front, up to the set speed. Traffic-Aware 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.

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 affectaffectAutopilot 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 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.
WARNING: Although Traffic-Aware Cruise Control is capable of detecting pedestrians and cyclists, never depend on Traffic-Aware Cruise Control to adequately slow Model Y 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-Aware Cruise Control on winding roads with sharp curves, on icy or slippery road surfaces, or when weather conditions (such as heavy rain, snow, fog, etc.) make it inappropriate to drive at a consistent speed. 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 AwareTraffic-AwareCruise Control at any speed, even when stationary, provided Model Y 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, the touchscreen displays the cruising speed in gray. The number shown represents the cruising speed that will be set when you engage Traffic-Aware Cruise Control.
• When Traffic-Aware Cruise Control is actively cruising at a set cruising speed, the cruising speed is highlighted with blue text.

1. 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 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.
   • WARNING: When cruising at the speed limit, there may be situations where the cruising speed may not change when the speed limit changes.
   • WARNING: Do not rely on Traffic-Aware Cruise Control or Speed Assist to determine an accurate or appropriate cruising speed. It is the driver’s responsibility to cruise at a safe speed based on road conditions and applicable speed limits.
2. To engage Traffic-Aware Cruise Control when it is available (the car status area of the touchscreen displays the gray cruising speed icon), move the drive stalk down once, then release the accelerator pedal to allow Traffic-Aware Cruise Control to maintain the cruising speed.
   • NOTE: Moving the drive stalk down twice in quick succession engages Autosteer (assuming it has been enabled), which includes Traffic-Aware Cruise Control functionality.
3. To change your speed while using Traffic-Aware AwareTraffic-AwareCruise Control, you can roll the right scroll wheel on the steering wheel up or down. You can also change the cruising speed to the current speed limit (including any offset you’ve specified), by either long pressing the drive stalk down, or touching the speed limit sign on the touchscreen.
4. To cancel Traffic-Aware Cruise Control, push the drive stalk up once or press the brake pedal.

Set Traffic-Aware Cruise Control Chime

• If you want a chime to sound when you engage or cancel Traffic-Aware Cruise Control, touch Controls > Autopilot > Traffic-Aware Cruise Control Chime.

NOTE: Model Y must be in Park.

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.

With Traffic-Aware Cruise Control engaged and cruising at a set speed, 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, or touching and briefly holding the speed limit sign on the touchscreen, until you see the cruising speed change.

NOTE: It may take a few seconds for Model Y to reach the new cruising speed, assuming Model Y is not cruising behind a vehicle that is 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 Y. When cruising behind a detected vehicle, Traffic-Aware Cruise Control accelerates and decelerates Model Y as needed to maintain a chosen following distance, 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 Y 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 Y, the accelerator pedal does not move.

WARNING: Traffic-Aware Cruise Control may occasionally cause Model Y 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 Model Y slows down, especially near exits or off-ramps where a curve is detected and/or you are navigating to a destination and not following the route.
WARNING: Traffic-Aware Cruise Control may not detect all objects and, especially when cruising over 50 mph (80 km/h), may not brake/decelerate when a vehicle or object is only partially in the driving lane or when a vehicle you are following moves out of your driving path and a stationary or slow-moving vehicle or object is in front of you. 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 your lane of travel, causing Model Y 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 Y to exceed your set speed (and potentially the road’s speed limit). Never depend on Traffic-Aware Cruise Control to slow down Model Y 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 reduce your driving speed enough to prevent a collision can result in serious injury or death.

HOLD State

When following a vehicle, Traffic-Aware Cruise Control remains active at low speeds, even when Model Y 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 touchscreen 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 Y has been at a standstill for 5 minutes.
• Model Y detects a pedestrian (the HOLD state may clear when the pedestrian is no longer detected).
• Model Y suddenly loses visibility of the vehicle in front of you.
• An obstacle is detected in front of Model Y.

Cruising Near or On Exits

When cruising near an exit on a controlled-access highway and engaging the turn signal toward the off- ramp, Traffic-Aware Cruise Control assumes you are exiting and begins to slow down Model Y. If you do not drive onto the off-ramp, Traffic-Aware 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 traffic; 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 highway, Traffic-Aware Cruise Control automatically adjusts the set cruising speed to the speed limit of the highway, plus any offset you have specified.

NOTE: The on-board 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 an inadequate signal), engaging the turn signal near an exit does not cause Traffic-Aware AwareTraffic-AwareCruise Control to slow down Model Y.

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 cruising speed reverts back 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.

Adjust the Following Distance

To adjust the following distance you want to maintain between Model Y and a vehicle traveling ahead of you, press the steering wheel’s right scroll button to the left or right. 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 Y, from its current location, to reach the location of the rear bumper of the vehicle ahead of you.

• As you adjust the following distance, the touchscreen displays the current setting.

NOTE: Your setting is retained until you manually change it.
NOTE: The closest following distance(s) may be unavailable for vehicles manufactured after approximately April 27, 2021.

WARNING: It is the driver’s responsibility to determine and maintain a safe following distance at all times. Do not rely on Traffic-Aware Cruise Control to maintain an accurate or appropriate following distance.
WARNING: Never depend on Traffic-Aware Cruise Control to adequately slow down Model Y 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 Y towards the vehicle ahead. By momentarily holding the turn signal stalk up or down, 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 Y 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-Aware 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 Y gets too close to the vehicle ahead.
• You disengage the turn signal.

NOTE: Overtake Acceleration occurs when you hold the turn signal in the momentary position (partially engaged). When you release the turn signal, Model Y 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 Y closer to the vehicle ahead. Although Traffic-Aware AwareTraffic-AwareCruise 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 brake pedal or briefly move the drive stalk up once. The cruising speed icon on the touchscreen turns gray to indicate that Traffic-Aware Cruise Control is no longer active.

WARNING: Do not hold the drive stalk up for more than one second. Doing so cancels Traffic-Aware AwareTraffic-AwareCruise Control and shifts Model Y into Neutral.

• To resume cruising, move the drive stalk fully down once then release.

NOTE: When Traffic-Aware Cruise Control cancels, Model Y does not coast. Instead, regenerative braking slows down Model Y in the same way as when you move your foot off the accelerator when driving without Traffic-Aware Cruise Control.

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 Y.
• A door is opened.
• A camera or sensor 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 Y 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 Y 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 the cruising speed that will be set when you engage Traffic-Aware Cruise Control.
• Traffic-Aware Cruise Control is actively cruising 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 Y 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).
• A camera or sensor is obstructed (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.

Autosteer

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Autosteer, or the feature may not operate exactly as described.
NOTE: Autosteer is a BETA feature.

Autosteer builds upon Traffic-Aware Cruise Control, intelligently keeping Model Y in its driving lane when cruising at a set speed. Autosteer also allows you to use the turn signals to move Model Y into an adjacent lane. Autosteer detects lane markings and the presence of vehicles and objects to steer Model Y.

When full self-driving is enabled (if equipped), the car status area displays visualizations of the road and your vehicle’s surroundings. You can expand the visualization by dragging the car status area from side to side. This displays more details about the roadway and its surroundings, such as road markings, stop lights, and objects (such as trash cans and poles).

CAUTION: Ensure all cameras and sensors are clean. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, affect performance.

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

Operating Autosteer

Before you can operate Autosteer, you must enable it by touching Controls > Autopilot > Autosteer (Beta).

• To indicate that Autosteer is available (but not actively steering Model Y), the top corner of the touchscreen displays a gray Autosteer icon next to the driving gear.
• To initiate Autosteer, move the drive stalk fully down twice in quick succession.
• To indicate that Autosteer is now actively steering Model Y, the touchscreen displays the Autosteer icon in blue. When Autosteer is able to detect lane markings, it also displays the driving lane in blue.

Autosteer briefly displays a message on the touchscreen reminding you to pay attention to the road and be ready to take over at any time. The speed at which you can initiate Autosteer can vary depending on various conditions and whether or not a vehicle is detected ahead of you. 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. When a vehicle is detected ahead of you, you can initiate Autosteer at any speed, even when stationary, provided Model Y is at least 5 feet (150 cm) behind the detected vehicle.

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.
NOTE: Auto High Beam is automatically enabled when Autosteer is engaged and the maximum cruising speed may be limited to a lower speed for vehicles manufactured after approximately April 27, 2021.

CAUTION: If available in your market region, Model Y detects lights from an emergency vehicle when using Autosteer at night on a high speed road, the driving speed is automatically reduced and the touchscreen 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 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.

WARNING: Never depend on Autopilot features to determine the presence of emergency vehicles. Model Y may not detect lights from emergency vehicles in all situations. Keep your eyes on your driving path and always be prepared to take immediate action.

In situations where Autosteer is temporarily unavailable, the Autosteer icon disappears. For example, your driving speed is not within the speed required for Autosteer to operate. Autosteer may also be unavailable if it is not receiving adequate data from the camera(s).

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 Y in the driving lane. However, there may be situations in which Autosteer may steer Model Y in a driving path that is offset from the center of the lane (for example, detection of guard rails).

WARNING: Autosteer is not designed to, and will not, steer Model Y around objects partially in a driving lane and in some cases, may not stop for objects that are completely blocking the driving lane. Always watch the road in front of you and stay prepared to take immediate action. It is the driver’s responsibility to be in control of Model Y at all times.

Restricted Speed

On a controlled-access highway, the cruising speed reflects the speed limit, taking into consideration any offset you’ve specified using Speed Assist. However, if you choose to use Autosteer on residential roads, a road without a center divider, or a road where access is not limited, Autosteer may limit the maximum allowed cruising speed and the touchscreen displays a message indicating that speed is restricted. The restricted speed will be the speed limit of the road plus 5 mph (10 km/h).

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 Y may not brake for detected obstacles. 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 wheel, you can increase your set speed again, if desired.

Hold Steering Wheel

Autosteer determines how best to steer Model 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 car status section of the touchscreen and the following message displays:

• Apply slight turning force to steering wheel

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.

NOTE: When your hands are detected, the message disappears and Autosteer resumes normal operation.

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 car status section of the touchscreen increases in frequency and a chime sounds.  If you repeatedly ignore Autosteer’s prompts to apply slight force to the steering wheel, Autosteer disables for the rest of the drive and displays the following message requesting you to drive manually. If you don’t resume manual steering, Autosteer sounds a continuous chime, turns on the warning flashers, and slows the vehicle to a complete stop.

• Autosteer unavailable for the rest of this drive. Hold steering wheel to drive manually.

For the rest of the drive, you must steer manually. Autosteer is available again on your next drive (after you stop and shift Model Y into Park).

Take Over Immediately

In situations where Autosteer is unable to steer Model Y, Autosteer sounds a warning chime and displays the following message on the touchscreen:

• Take over immediately

When you see this message, TAKE OVER STEERING IMMEDIATELY.

Canceling Autosteer

Autosteer cancels when:

• You press the brake pedal.
• You start steering manually.
• You exceed the maximum speed at which Autosteer operates – 90 mph (150 km/h).
• You move the drive stalk upwards.
• A door is opened.
• An Automatic Emergency Braking event occurs.

When Autosteer cancels, it sounds a chime 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.

NOTE: If Autosteer cancels because you started steering manually, Traffic-Aware Cruise Control remains active. Disengage Traffic-Aware Cruise Control as you normally would, by pressing the brake pedal moving the drive stalk upward.
NOTE: If you move the drive stalk upward and hold it up for more than one second, Model Y shifts into Neutral after canceling Autosteer.

To disable Autosteer so it is no longer available, touch Controls > Autopilot > Autosteer (Beta).

Auto Lane Change

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Auto Lane Change, or the feature may not operate exactly as described.

When Autosteer is active, engage a turn signal to move Model Y into an adjacent lane (moving the steering wheel would cancel Autosteer).

WARNING: It is the driver’s responsibility to determine whether a lane change is safe and appropriate. Therefore, before initiating a lane change, always check blind spots, lane markings, and the surrounding roadway to confirm it is safe and appropriate to move into the target lane.
WARNING: Never depend on Auto Lane Change to determine an appropriate driving path. Drive attentively by watching the road and traffic ahead of you, checking the surrounding area, and monitoring the touchscreen for warnings. Always be prepared to take immediate action.
WARNING: Do not use Auto Lane Change on roads where traffic conditions are constantly changing and where bicycles and pedestrians are present.
WARNING: The performance of Auto Lane Change depends on the ability of the camera(s) to recognize lane markings.
WARNING: Do not use Auto Lane Change on winding roads with sharp curves, on icy or slippery roads, or when weather conditions (such as heavy rain, snow, fog, etc.) may be obstructing the view from the camera(s) or sensors.
WARNING: Failure to follow all warnings and instructions can result in property damage, serious injury or death.

Operating Auto Lane Change

Auto Lane Change is available whenever Autosteer is active. To change lanes using Auto Lane Change:

1. Perform visual checks to make sure it is safe and appropriate to move into the target lane.
2. Engage the appropriate turn signal, keeping your hands on the steering wheel.
3. If needed, cancel the turn signal once you are in the target lane.

NOTE: The minimum speed at which Auto Lane Change operates may vary depending on region, adjacent lane speeds, and other factors. Always be ready to manually steer and change lanes as necessary.

Auto Lane Change moves Model Y into the adjacent lane in the direction indicated by the turn signal, provided the following conditions are met:

• The turn signal is engaged.
• Model Y does not detect a vehicle in its blind spot, or a vehicle or obstacle up to the center of the target lane.
• Lane markings indicate that a lane change is permitted.
• Midway through the lane change, Model Y must detect the target lane’s outside lane marking. If this lane marking is not detected, the lane change is aborted and Model Y returns to its original driving lane.
• The view of the camera(s) is not obstructed.

When an automatic lane change is in progress, Overtake Acceleration is activated, allowing Model Y to accelerate closer to a vehicle in front.

NOTE: Auto Lane Change moves Model Y one lane at a time. Moving into an additional lane requires you to engage the turn signal a second time after the first lane change is complete.

When using Auto Lane Change, it is important to monitor its performance by watching the driving path in front of you and the surrounding area. Stay prepared to take over steering at any time. As you are crossing over into the adjacent lane, the touchscreen displays the location in the lane that Model Y is moving into. In situations where Auto Lane Change is unable to operate at optimal performance, or cannot operate due to inadequate data, the touchscreen displays a series of warnings. Therefore, when using Auto Lane Change, always pay attention to the touchscreen and be prepared to manually steer Model Y.

Adjacent Lane Speed

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Adjacent Lane Speed, or the feature may not operate exactly as described.

When moving significantly faster than vehicles in adjacent lanes, Model 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 Y detects other vehicles driving significantly slower, the touchscreen highlights the adjacent lanes with arrows and detected vehicles in gray, and Model Y reduces the driving speed as appropriate. To temporarily override this feature, press the accelerator pedal.

WARNING: Never depend on Autopilot to determine a safe driving speed; you are responsible for driving safely and according to traffic laws in your market region.

Stop Light and Stop Sign Warning

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Stop Light and Stop Sign Warning, or the feature may not operate exactly as described.

While Autosteer is in use, Model Y displays a warning on the touchscreen 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 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 Y at traffic lights and stop signs.

CAUTION: Stop Light and Stop Sign Warning requires on-board maps to know that a particular stop light or stop sign exists at a location. In some cases, map data is inaccurate or outdated and may not include all stop lights or stop signs. Therefore, Stop Light and Stop Sign Warning may not detect all stop lights and stop signs.

WARNING: The Stop Light and Stop Sign Warning feature does not apply the brakes or decelerate Model Y and may not detect all stop lights and stop signs. Stop Light and Stop Sign Warning is designed for guidance purposes only and is not a substitute for attentive driving and sound judgment. Keep your eyes on the road when driving and never depend on Stop Light and Stop Sign Warning to warn you of a stop light or stop sign.
WARNING: Stop Light and Stop Sign Warning is designed to warn you only when approaching a visible red stop sign, solid red or later portion of a yellow traffic light. It may not warn you of intersections with flashing lights and it does not warn you of yield signs or temporary stop and yield signs (such as those used in construction areas). Additionally, Stop Light and Stop Sign Warning does not warn you of approaching stop lights or stop signs when you are pressing the accelerator pedal or brake pedal (which disables Autosteer).

Limitations

Autosteer and its associated functions are particularly unlikely to operate as intended when:

• Autosteer is unable to accurately determine lane markings. For example, lane markings are excessively worn, have visible previous markings, have been adjusted due to road construction, are changing quickly (lanes branching off, crossing over, or merging), objects or landscape features are casting strong shadows on the lane markings, or the road surface contains pavement seams or other high-contrast lines.
• Visibility is poor (heavy rain, snow, fog, etc.) or weather conditions are interfering with sensor operation.
• A camera(s) or sensor(s) is obstructed, covered, or damaged.
• Driving on hills.
• Approaching a toll booth.
• Driving on a road that has sharp curves or is excessively rough.
• Bright light (such as direct sunlight) is interfering with the view of the camera(s).
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• A vehicle is detected in your blind spot when you engage the turn signal.
• Model Y is being driven very close to a vehicle in front of it, which is blocking the view of the camera(s).

WARNING: Many unforeseen circumstances can impair the operation of Autosteer. Always keep this in mind and remember that as a result, Autosteer may not steer Model Y appropriately. Always drive attentively and be prepared to take immediate action.

Navigate on Autopilot

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Navigate on Autopilot, or the feature may not operate exactly as described.
NOTE: Navigate on Autopilot is a BETA feature.

When using Autosteer on a controlled-access highway (a main highway on which road users enter and exit using on-ramps and off-ramps). Navigate on Autopilot guides Model Y to off-ramps and interchanges based on your navigation route. Along the highway portion of a navigation route, Navigate on Autopilot also changes lanes to prepare for exits (route-based lane changes) and to minimize the driving time to your destination (speed-based lane changes).

WARNING: Navigate on Autopilot does not make driving autonomous. You must pay attention to the road, keep your hands on the steering wheel at all times, and remain aware of your navigation route.
WARNING: As is the case with normal driving, be extra careful around blind corners, interchanges, and on-ramps and off-ramps – obstacles can appear quickly and at any time.
WARNING: Navigate on Autopilot may not recognize or detect oncoming vehicles, stationary objects, and special-use lanes such as those used exclusively for bikes, carpools, emergency vehicles, etc. Remain alert at all times and be prepared to take immediate action. Failure to do so can cause damage, injury or death.

Enabling and Customizing Navigate on Autopilot

To enable Navigate on Autopilot, touch Controls > Autopilot > Navigate on Autopilot (Beta). Then, to customize how you want Navigate on Autopilot to operate, touch Customize Navigate on Autopilot:

• Enable At Start Of Every Trip: Choose whether or not you want to automatically enable Navigate on Autopilot for every navigation route. When enabled, the Navigate on Autopilot button on the turn-by-turn direction list is already enabled at the start of every trip.
• Speed Based Lane Changes: Navigate on Autopilot is designed to perform both route-based and speed-based lane changes. Route-based lane changes are designed to keep you on your navigation route (for example, moving you into an adjacent lane to prepare for an upcoming off-ramp) whereas speed-based lane changes are designed to maintain a driving speed (not to exceed your cruising speed) that allows you to minimize the time it takes to reach your destination (for example, moving into an adjacent lane to pass a vehicle in front of you). Speed-based lanes changes are optional. You can use this setting to disable speed-based lane changes or to specify how aggressively you want Navigate on Autopilot to change lanes to achieve the set cruising speed. The Mild setting is more conservative about lane changes and may result in a slightly longer driving time whereas Mad Max is designed to allow you to reach your destination in the shortest driving time possible, but changes lanes only when safe to do so.
• Exit Passing Lane: Choose whether you want Navigate on Autopilot to maneuver out of a passing lane when navigating to a destination.
  • NOTE: In addition to route-based and speed-based lane changes, Navigate on Autopilot requests a lane change out of a passing lane as a reminder to stay in a slower lane when you are not passing other vehicles. Choose NO to disable this and keep Model Y in a passing lane except when needed to stay on the navigation route.
• Require Lane Change Confirmation (if equipped): By default, Navigate on Autopilot requires your confirmation before proceeding with a lane change by engaging the appropriate turn signal. However, if you want Navigate on Autopilot to change lanes without requiring this confirmation, turn this setting off. When you turn the setting off, you can specify if or how you want to be notified of lane changes (Off , Chime, Vibrate, or Both).

WARNING: If you turn off Require Lane Change ConfirmationConfirmation, Navigate on Autopilot notifies you of upcoming lane changes and off-ramps, off-ramps,but it remains your responsibility to monitor the environment and maintain control of Model Y at all times. Lane changes can occur quickly and suddenly. Always keep your hands on the wheel and your eyes on the driving path in front of you.

NOTE: The touchscreen displays route-based lane changes at the top of the map’s turn-by-turn direction list to notify you that an upcoming lane change is needed to stay on the navigation route.

Operating Navigate on Autopilot

Once enabled, the Navigate on Autopilot button appears on the map’s turn-by-turn direction list whenever a navigation route is active and the route includes at least one controlled-access highway. When enabled, the Navigate on Autopilot button is blue and the turn-by-turn direction displays the Autosteer icon next to the maneuvers (such as off-ramps) that Navigate on Autopilot will handle.

NOTE: If Enable At Start Of Every Trip is turned off, you must touch the Navigate on Autopilot button to enable it for each navigation route.

Navigate on Autopilot activates and deactivates as appropriate, based on the type of road you are driving on. For example, if Autosteer is active and Navigate on Autopilot is enabled, Navigate on Autopilot automatically becomes active when you reach a controlled-access highway on your navigation route.

Whenever Navigate on Autopilot is active, the touchscreen displays the driving lane as a single blue line in front of Model Y:

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 Y onto the off-ramp or interchange.

WARNING: Never depend on Navigate on Autopilot to determine an appropriate lane at an off-ramp. Stay alert and perform visual checks to ensure that the driving lane is safe and appropriate.

When you leave a controlled-access highway (for example, you take an exit or you enter a section of the navigation route that is no longer supported), Navigate on Autopilot reverts back to Autosteer— a chime sounds and the touchscreen displays the driving lane lines in blue (instead of the single blue in front of Model Y).

NOTE: When determining navigation routes, and maneuvers at interchanges, Navigate on Autopilot considers whether or not you want to use High Occupancy Vehicle (HOV) lanes. Therefore, ensure the Use HOV Lanes setting is appropriate for your circumstances (see Maps and Navigation on page 135). If the setting is off, Navigate on Autopilot never uses a HOV lane, regardless of time of day. If the setting is on, Navigate on Autopilot uses HOV lanes, whenever applicable.

WARNING: When Navigate on Autopilot deactivates, Autosteer remains active. Always be prepared to take appropriate action.
WARNING: Navigate on Autopilot may not always attempt to exit at an off-ramp or change lanes, even when an exit or lane change is determined by the navigation route. Always remain alert and be prepared to manually steer onto an off-ramp, or make a lane change to prepare for, or to exit at, an off-ramp or interchange.

You can cancel Navigate on Autopilot at any time by touching Navigate on Autopilot on the map’s turn-by-turn direction list (Model Y reverts back to Autosteer), or by canceling Autosteer entirely.

Lane Changes

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

If Require Lane Change Confirmation is turned off , Navigate on Autopilot engages the appropriate turn signal, checks for vehicles and objects, and when appropriate, maneuvers Model Y into the adjacent lane.
If Require Lane Change Confirmation is turned on, you must engage the appropriate turn signal to confirm that you want Navigate on Autopilot to proceed with the lane change. If you do not confirm the lane change within three seconds, a chime sounds to remind you that Navigate on Autopilot requires your confirmation to change lanes.

NOTE: If you ignore a route-based lane change suggestion (for example, you are driving in the left lane while approaching an off-ramp on the right side of the highway), Navigate on Autopilot is unable to maneuver onto the off-ramp and as a result, you are re-routed to your destination.

WARNING: Navigate on Autopilot may not always attempt to exit at an off-ramp or change lanes, even when an exit or lane change is determined by the navigation route. Always remain alert and be prepared to manually steer onto an off-ramp, or make a lane change to prepare for, or to exit at, an off-ramp or interchange.

Be Ready to Assist

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

Traffic Light and Stop Sign Control

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Traffic Light and Stop Sign Control, or the feature may not operate exactly as described.

NOTE: Traffic Light and Stop Sign Control is a BETA feature and works best on roads that are frequently driven by Tesla vehicles. Traffic Light and Stop Sign Control attempts to stop at all traffic lights and may also stop at green lights.

Traffic Light and Stop Sign Control is designed to recognize and respond to traffic lights and stop signs, slowing Model Y to a stop when using Traffic-Aware AwareTraffic-Awarecruise control or Autosteer. This feature uses the vehicle’s forward-facing cameras, in addition to GPS data, and slows the car for all detected traffic lights, including green, blinking yellow, and off lights in addition to stop signs and some road markings. As Model Y approaches an intersection, the touchscreen displays a notification indicating the intention to slow down. You must confirm that you want to continue or Model Y stops at the red line displayed on the touchscreen’s driving visualization.

WARNING: NEVER make assumptions and predict when and where Traffic Light and Stop Sign Control will stop or continue through an intersection or road marking. From a driver’s perspective, the behavior of Traffic Light and Stop Sign Control may appear inconsistent. Always pay attention to the roadway and be prepared to take immediate action. It is the driver’s responsibility to determine whether to stop or continue through an intersection. Never depend on Traffic Light and Stop Sign Control to determine when it is safe and/or appropriate to stop or continue through an intersection.

Before Using

Before using Traffic Light and Stop Sign Control, you must:

• Ensure that forward-facing cameras are unobstructed and calibrated (see Drive to Calibrate Cameras on page 86). Traffic Light and Stop Sign Control depends on the ability of the cameras to detect traffic lights, stop signs, and road markings.
• Ensure that the latest version of maps has been downloaded to Model Y. Although Traffic Light and Stop Sign Control primarily uses visual data received from the vehicle’s cameras, greater accuracy is achieved when using the most recent map data. To check which version of maps is currently downloaded, touch Controls > Software > Additional vehicle information. You must connect to a Wi-Fi network to receive updated maps.
• Enable the feature. With the vehicle in Park, touch Controls > Autopilot > Traffic Light and Stop Sign Control. Once enabled, Traffic Light and Stop Sign Control operates whenever Traffic-Aware Cruise Control or Autosteer is active.

How it Works

When Traffic Light and Stop Sign Control is enabled and you are using Autosteer or Traffic-Aware Cruise Control, the touchscreen displays a popup message to inform you that an upcoming traffic light, stop sign, or road marking has been detected. As it approaches the stop location, even at an intersection where the traffic light is green, Model Y slows down and displays a red line to indicate where Model Y will stop. To continue through the intersection—even if the traffic light is green —you must press down on the drive stalk or briefly press the accelerator pedal to give the vehicle permission to proceed. When you’ve confirmed that you want to proceed, the red stop line turns gray and Model Y continues through the intersection and resumes your set cruising speed.

NOTE: If Model Y is approaching a green light and detects that a vehicle in front of you is continuing through the intersection, Model Y continues through the intersection without requiring your confirmation, confirmation,provided you are not in a turning lane and your hands are detected on the steering wheel.

NOTE: If, after you press down on the drive stalk or briefly press the accelerator pedal to confirm that you want to continue through the intersection, the traffic signal changes before you enter the intersection (for example, the light changes from green to yellow or from yellow to red), Model Y may determine that it is not appropriate to proceed. Therefore, Model Y stops and you must press the accelerator to proceed. At all times, it is your responsibility to ensure the vehicle stops or accelerates appropriately and safely.

WARNING: Traffic Light and Stop Sign Control DOES NOT turn Model Y through an intersection. When in a turning lane, Model Y stops at the red stop line. To proceed, press down on the drive stalk or briefly press the accelerator pedal—Model Y continues straight through the intersection (even when in a turning lane), so you MUST manually steer Model Y through the intersection (which cancels Autosteer).

Traffic Light and Stop Sign Control is designed to operate as described only when the following conditions are met:

• Autosteer or Traffic-Aware Cruise Control is engaged.
• The cameras can detect an upcoming traffic light, stop sign or road marking (for example, cameras are unobstructed and have a clear line-of-sight to the traffic light, stop sign, or road marking).
• The touchscreen on Model Y is displaying an upcoming traffic light in “bold” format. Model Y does not acknowledge traffic lights that the touchscreen shows as faded. If a traffic light is not directly ahead of the camera (for example, it is located at an angle of the camera’s view, or located in an adjacent lane) the touchscreen displays it as faded and Model Y does not slow down and stop for it.

WARNING: If the touchscreen is not displaying a red stop line at an upcoming intersection, Model Y does not slow down or stop. It is the driver’s responsibility to pay attention to upcoming intersections and monitor traffic conditions to determine when and if the vehicle should stop and then to take appropriate action as needed.
WARNING: Never depend on Traffic Light and Stop Sign Control to determine whether to stop at, or proceed through, an intersection. Drive attentively by watching the road and paying attention to the roadway, upcoming intersections, traffic conditions, crosswalks, and other road users. It is always the driver’s responsibility to determine whether to stop or proceed. Be prepared to take immediate action. Failure to do so can result in injury or death.
WARNING: In some situations, Traffic Light and Stop Sign Control may inaccurately detect a traffic light or stop sign, causing Model Y to slow down unexpectedly. Be prepared to take immediate action at all times.

WARNING: You must press down on the drive stalk or briefly press the accelerator pedal to confirm that you want to proceed through an intersection, regardless of the status of the traffic light. If you do not confirm, Model Y stops at the red stop line displayed on the touchscreen, even if stopping may be inappropriate. Stopping at a green light may confuse other drivers and may result in a collision, injury or death. Therefore, always pay attention to upcoming intersections and be prepared to manually brake or accelerate in response to surroundings.
WARNING: Never assume that your ability to see a traffic light, stop sign, or road marking (especially at a complex intersection, or an intersection in which a traffic light or sign is partially obstructed, etc.) means that Model Y can also see it and respond appropriately.
WARNING: Even the most recent map data does not include all traffic lights and stop signs. Therefore, Traffic Light and Stop Sign Control relies heavily on the ability of the cameras to detect traffic lights, stop signs, road markings, etc. As a result, Model Y may ignore an intersection that is blocked from the camera’s view (for example, obstructed by a tree or a large vehicle or object, or located near a steep hill or sharp curve).
WARNING: Traffic Light and Stop Sign Control is not a substitute for attentive driving and sound judgment.

Traffic Lights

When driving with Autosteer or Traffic-Aware Cruise Control engaged, and Traffic Light and Stop Sign Control enabled, Model Y is designed to respond as follows when approaching intersections controlled by a traffic light:

Type of Traffic Light	Vehicle Intended Response
	At a solid green traffic light, or at a traffic light that is currently off (not illuminated), Model Y slows down.   If you are following a car in front of you that continues through the intersection, the touchscreen displays a green stop line and provided your hands are detected on the steering wheel, Model Y also continues. If a car is not in front of you, the touchscreen displays a red stop line and you must confirm that you want to continue through the intersection by pressing down on the drive stalk or briefly pressing the accelerator pedal. If you don’t confirm, Model Y stops at the red stop line.   NOTE: Model Y resumes the set cruising speed when it continues through the intersection, taking into consideration the speed of a vehicle in front of you.
	Model Y slows down and comes to a complete stop at the red stop line displayed on the touchscreen. When you want to continue through the intersection (for example, the light turns green again, or once Model Y has come to a complete stop), you must press down on the drive stalk or briefly press the accelerator pedal.
	Model Y slows down and comes to a complete stop at the red stop line displayed on the touchscreen. When you want to proceed through the intersection (for example, the light turns green again), you must press down on the drive stalk or briefly press the accelerator pedal. NOTE: If the traffic light changes after you’ve confirmed that you want to proceed (for example, a green traffic light turns yellow), Model Y may stop instead of continuing, especially if Model Y determines that it can safely stop before entering the intersection. NOTE: Model Y is not designed to proceed through an intersection when the traffic light is red or if the light turns yellow in situations when there is adequate distance to safely stop before entering the intersection. NOTE: You can take over driving at any time by manually braking to cancel Autosteer or Traffic-aware Cruise Control.

	Model Y slows down. To proceed, you must press down on the drive stalk or briefly press the accelerator pedal. If you don’t, Model Y stops at the red stop line displayed on the touchscreen. NOTE: To prevent Model Y from stopping, and to minimize how much it slows down as it approaches, you can confirm that you want to proceed by pressing down on the drive stalk or briefly pressing the accelerator pedal at any time after the touchscreen displays the red stop line. Model Y resumes your set cruising speed immediately after you confirm (taking into consideration the speed of a vehicle in front of you). WARNING: Approach attentively and be prepared to press the brake pedal to slow down or stop.
	Model Y slows down and comes to a complete stop at the red stop line displayed on the touchscreen. When you want to proceed through the intersection (for example, traffic laws and conditions indicate it is safe and legal to proceed), you must press down on the drive stalk or briefly press the accelerator pedal.

Stop Signs and Road Markings

When driving with Autosteer or Traffic-aware Cruise Control engaged, and Traffic Light and Stop Sign Control enabled, Model Y is designed to respond as follows when approaching intersections controlled by stop signs, stop lines, or road markings:

Type of Intersection	Vehicle Intended Response
	Model Y assumes the right of way and continues straight without slowing down or stopping.
	If Model Y detects a T-junction based on the map data, Model Y slows down and comes to a complete stop at the red stop line displayed on the touchscreen. When you want to proceed, you must take over steering and acceleration. WARNING: Model Y may not stop at a T-junction that does not have a stop sign or stop line, or if the T-junction is not included in the map data. Drive attentively and be prepared to stop (when necessary and/or appropriate).
	Model Y slows down and comes to a complete stop at the red stop line displayed on the touchscreen. When you want to proceed through the intersection, you must press down on the drive stalk or briefly press the accelerator pedal. NOTE: If you confirm that you want to proceed through an intersection controlled by a stop sign by pressing down on the drive stalk or briefly pressing the accelerator pedal before Model Y has stopped, your confirmation is ignored. Model Y is not designed to proceed through a stop sign without stopping. NOTE: Even when using Autosteer, and even if you have engaged a turn signal, you must turn the steering wheel yourself (which cancels Autosteer) to complete a turn at an intersection.

WARNING: Model Y also slows down and stops at a roundabout. You must take over steering (which cancels Autosteer) and press down on the drive stalk or briefly press the accelerator pedal to confirm that you want to continue through the roundabout.

WARNING: At crosswalks, Model Y may slow down and may stop, depending on whether the crosswalk is controlled by a traffic light and whether the cameras detect pedestrians, bicyclists, etc. in the crosswalk. Pay particular attention at crosswalks and be prepared to take over at any time. Failure to do so can result in injury or death.

Limitations

Depending on many different circumstances and environmental conditions, Traffic Light and Stop Sign Control may or may not stop at:

• Railroad crossings.
• Keep-out zones.
• Toll booths.
• Crosswalk systems.
• Yield signs or temporary traffic lights and stop signs (such as at construction areas).
• Miscellaneous traffic U-turn lights, bicycle and pedestrian crossing lights, lane availability lights, etc.

In addition, Traffic Light and Stop Sign Control is particularly unlikely to operate as intended, can disengage, or may not operate, when one or more of the following conditions are present:

• Driving through consecutive light-controlled intersections that are very close to each other.
• Visibility is poor (heavy rain, snow, fog, etc.) or weather conditions are interfering with camera or sensor operation.
• Bright light (such as direct sunlight) is interfering with the view of the camera(s).
• A camera is obstructed, covered, damaged, or not properly calibrated.
• Driving on a hill or on a road that has sharp curves on which the cameras are unable to see upcoming traffic lights or stop signs.
• A traffic light, stop sign, or road marking is obstructed (for example, a tree, a large vehicle, etc.).
• Model Y is being driven very close to a vehicle in front of it, which is blocking the view of a camera.

WARNING: The limitations listed above are not an exhaustive list of reasons why Model Y may not operate as expected. Many unforeseen circumstances can adversely impact the accurate operation of Traffic Light and Stop Sign Control. Using this feature does not reduce or eliminate the need to drive attentively and responsibly. You must be prepared to take appropriate and immediate action at all times.

Autopark

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Autopark.
Autopark uses data to simplify parking on public roads by maneuvering Model Y into parallel and perpendicular parking spaces.

CAUTION: Ensure all cameras and sensors (if equipped) are clean. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, can affect Autopilot performance.

WARNING: Autopark’s performance depends on the ability of the cameras and ultrasonic sensors (if equipped) to determine the vehicle’s proximity to curbs, objects, and other vehicles.
WARNING: Do not use Autopark if anything, such as a ball hitch, bike rack, or trailer, is attached to the tow hitch. Autopark may not stop for hitches when parking between or in front of other vehicles.

Parameters

Autopark detects potential parking spaces based on the following parameters:

Perpendicular Parking

• Your driving speed must be below 8 mph (13 km/h). If driving too fast, Autopark may not be able to accurately detect your desired parking space.
• The parking space must be at least 7.2 feet (2.2 meters) wide.
• The parking space must have at least three visible lines for the vehicle to park into, such as parking lines, road markings, or distinct curbs. Autopark may not work in a garage, for example, without three visible parking lines.
• Autopark may not work with textured road surfaces such as cobblestone or brick.

Parallel Parking

• Your driving speed must be below 13 mph (21 km/h). If driving too fast, Autopark may not be able to accurately detect your desired parking space.
• There must be a vehicle in front of the space you want to park in.
• A distinct curb or edge must be visible. Autopark may not correctly identify the parking space if the curb is not distinct, such as grass or dirt.

NOTE: Autopark does not operate on angled parking spaces.

To Use Autopark

When driving, follow these steps to allow Autopark to maneuver Model Y into a parking space:

1. While driving slowly on a public road, monitor the touchscreen to determine when Autopark has detected a parking space. The touchscreen will display a parking icon if the vehicle detects a potential parking spot.
   • NOTE: The parking icon appears only if the vehicle’s position and/or the circumstances of the surrounding area are such that Autopark can determine an appropriate driving path. If Autopark cannot determine an appropriate path (for example, when driving on a narrow street where moving into the parking space causes the front of the vehicle to extend into the adjacent lane), you can either reposition the vehicle, find a different parking space, or park manually.
2. Check to determine if the detected parking space is appropriate and safe. If so, pull forward and stop approximately one car length ahead of the parking space (as you normally would when parallel parking or when backing into a perpendicular parking space).
3. Release the steering wheel, shift Model Y into Reverse, then touch Start Autopark on the touchscreen.
4. Autopark displays a message when parking is complete.

NOTE: If you press the brake pedal when Autopark is actively parking Model Y, the parking process pauses until you touch Resume on the touchscreen.

WARNING: Never depend on Autopark to find a parking space that is legal, suitable, and safe. Autopark may not always detect objects in the parking space. Always perform visual checks to confirm that a parking space is appropriate and safe.
WARNING: When Autopark is actively steering Model Y, the steering wheel moves in accordance with Autopark’s adjustments. Do not interfere with the movement of the steering wheel. Doing so cancels Autopark.
WARNING: During the parking sequence, continually check your surroundings. Be prepared to apply the brakes to avoid vehicles, pedestrians, or objects.
WARNING: When Autopark is active, monitor the touchscreen to ensure that you are aware of the instructions that Autopark is providing.

To Pause Parking

To pause Autopark, press the brake pedal once. Model Y stops and remains stopped until you touch Resume on the touchscreen.

To Cancel Parking

Autopark cancels the parking sequence when you manually move the steering wheel, shift, or touch Cancel on the touchscreen. Autopark also cancels parking when:

• The parking sequence exceeds seven moves.
• Model Y detects that the driver is exiting the vehicle.
• A door is opened.
• You press the accelerator pedal.
• You press the brake pedal while Autopark is paused.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist on page 119).

Limitations

Autopark is particularly unlikely to operate as intended in these situations:

• The road is sloped. Autopark is designed to operate on flat roads only.
• Visibility is poor (due to heavy rain, snow, fog, etc.).
• The curb is constructed of material other than stone, or the curb cannot be detected.
• The target parking space is directly adjacent to a wall or pillar (for example, the last parking space of a row in an underground parking structure).
• One or more of the ultrasonic sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.

WARNING: Many unforeseen circumstances can impair Autopark’s ability to park Model Y. Keep this in mind and remember that as a result, Autopark may not steer Model Y appropriately. Pay attention when parking Model Y and stay prepared to immediately take control.

Summon

NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with Summon, or the feature may not operate exactly as described.
Summon allows you to automatically park and retrieve Model Y while you are standing outside the vehicle. Summon moves Model Y forward and reverse up to 39 feet (12 meters) in, or out of, a parking space.

To move Model Y a longer distance while steering around objects, you can use Smart Summon (if equipped) and your mobile phone. Smart Summon allows your vehicle to find you (or you can send your vehicle to a chosen location).

CAUTION: Ensure all cameras and sensors are clean. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, can affect Autopilot performance.

WARNING: Summon is designed and intended for use only on parking lots and driveways on private property where the surrounding area is familiar and predictable.
WARNING: Summon is a BETA feature. You must continually monitor the vehicle and its surroundings and stay prepared to take immediate action at any time. It is the driver’s responsibility to use Summon safely, responsibly, and as intended.
WARNING: Summon’s performance depends on the ability of the ultrasonic sensors (if equipped) to determine the vehicle’s proximity to objects, people, animals, and other vehicles.

Before Using Summon

Before operating Summon, use the touchscreen to enable it and customize how you want it to work. Touch Controls > Autopilot > Customize Summon and adjust the following settings to suit your preferences:

• Bumper Clearance: Set the distance that you want Summon to stop from a detected object (for example, you may want Summon to stop within just a few inches of a garage wall). Note that this distance applies only to objects that Summon detects directly in front of Model Y when moving forward, or directly behind Model Y when reversing.
• Summon Distance: Set a maximum distance that Model Y can travel when entering or exiting a parking space.
• Side Clearance: Choose an option to specify how much side clearance you want to allow. Tight allows Model Y to enter and exit very narrow parking spaces.

WARNING: Parking in a narrow space limits the ability of the sensors to accurately detect the location of obstacles, increasing the risk of damage to Model Y and/or surrounding objects.

• Require Continuous Press: By default, Summon requires that you press and hold a button on the mobile app to move Model Y during the parking process. When Require Continuous Press is set to No, you can press and release the button—you don’t need to hold it down to keep the vehicle moving. Also, when Require Continuous Press is set to No, you can operate Summon using the key fob accessory instead of the mobile app and you can start a parking sequence from inside the vehicle.
• Use Auto HomeLink (if equipped): Set to ON if you want to activate HomeLink to open/close a programmed HomeLink device (such as a gate or a garage door) during the parking process when using Summon. If enabled, the device automatically opens and closes when Model Y enters or exits during a Summon session. In a Smart Summon session (if equipped), the device automatically opens when, at the beginning of a session, Smart Summon detects that Model Y is parked in a garage.

WARNING: Always ensure that Model Y is fully in or out of a garage before HomeLink lowers the garage door. Summon and Smart Summon (if equipped) cannot detect where an overhead door will lower.

NOTE: When enabled, the HomeLink device automatically opens and closes when using Summon, and automatically opens as needed when using Smart Summon (if equipped). To automate HomeLink in other situations (such as normal driving), you must adjust the HomeLink device’s main settings by touching the HomeLink icon at the top of the Controls screen.

NOTE: The above settings, with the exception of HomeLink, apply only to Summon—not Smart Summon (if equipped). You cannot customize Smart Summon’s bumper clearance, distance, and side clearance. And when using Smart Summon, you must always hold down the button on the mobile app to keep Model Y moving. Also, Smart Summon operates with the mobile app only—not the key fob accessory.

NOTE: All settings are retained until you manually change them.

Using Summon to Park and Retrieve your Vehicle

Follow these steps to use Summon to park your Model Y:

Align Model Y within 39 feet (12 meters) of the parking space so Model Y can follow a straight path into or out of the space in either Drive or Reverse.

• From outside the vehicle, initiate the parking maneuver by touching Summon on the mobile app, then holding down the Forward or Reverse button.

NOTE: If the Require Continuous Press setting is No, you do not need to hold down the button, just press and release.
NOTE: You can also initiate the parking maneuver from inside the vehicle.

Summon shifts Model Y into Drive or Reverse (based on the direction you specified) and drives into or out of the parking space. When parking is complete, or if an obstacle is detected, Summon shifts Model Y into Park. Summon shifts Model Y into Park when:

• Model Y detects an obstacle in its driving path (within the Bumper Clearance setting that you specified).
• Summon has moved Model Y the maximum distance of 39 feet (12 meters).
• You release the Forward or Reverse button (when Require Continuous Press is turned on).
• You press any button to manually stop Summon.

If you used Summon to park Model Y, you can then use Summon to return Model Y back to its original position (provided Model Y has remained in Park), or to the maximum Summon Distance that you have specifiedspecified(whichever comes first). Simply specify the opposite direction on the mobile app and Summon moves Model Y along the original path, provided no obstructions have been introduced. If an obstacle is detected, Model Y attempts to avoid the obstacle while staying very close to its original path (Summon does not steer around obstacles).

NOTE: To use Summon to move Model Y multiple times in the same direction (not to exceed the maximum of 39 feet (12 meters), cancel Summon and then restart the parking process using the same direction.
NOTE: Although Summon can move Model Y a short distance laterally to avoid an obstacle, it does not attempt to steer around an obstacle to return Model Y to its original driving path. Only Smart Summon (if equipped) can steer Model Y around objects.
NOTE: Summon requires that Model Y can detect a valid key nearby.
NOTE: Summon requires that Model Y can detect an authenticated phone nearby (Canada only).

WARNING: Model Y cannot detect obstacles that are located lower than the bumper, are very narrow, or are hanging from a ceiling (for example, bicycles). In addition, many unforeseen circumstances can impair Summon’s ability to move in or out of a parking space and, as a result, Summon may not move Model Y appropriately. Therefore, you must continually monitor the vehicle’s movement and its surroundings and remain prepared to stop Model Y at any time.

Operating Summon with the Key Fob

NOTE: Summon may not operate if the battery is low on the key fob accessory.

Follow these steps to park Model Y from outside the vehicle using the key fob accessory:

1. On the touchscreen, ensure that Require Continuous Press is disabled (touch Controls > Autopilot > Customize Summon > Require Continuous Press).
2. With Model Y in Park, stand within 10 feet (three meters) and press and hold the top center button on the key fob accessory (Lock/Unlock All button) until the hazard lights blink continuously.
   • NOTE: The hazard lights flash once as Model Y locks, then within five seconds, Model Y powers on and the hazard lights flash continuously. Do not proceed to the next step until the hazard lights are flashing. If, after five seconds, the hazard lights are not flashing,release the button on the key fob accessory, move closer to Model Y, and try again. If Summon receives no further input within ten seconds, Summon cancels.
3. Press the Front Trunk button on the key fob accessory to move Model Y forward into the parking space, or press the Rear Trunk button to reverse Model Y into the parking space.

Starting Summon Before Exiting the Vehicle

To start a Summon parking sequence before exiting Model Y:

1. On the touchscreen, ensure that Require Continuous Press is disabled (touch Controls > Autopilot > Customize Summon > Require Continuous Press).
2. Close all doors and trunks.
3. With Model Y powered on and Park engaged, double press the Park button on the drive stalk. The touchscreen displays a popup screen.
4. On the touchscreen, choose the direction of travel.
5. Exit Model Y and close the driver’s door.

Summon now moves Model Y according to the direction you specified on the touchscreen.

NOTE: To cancel the parking maneuver before exiting the vehicle, touch Cancel on the popup screen.
NOTE: If you do not choose a direction of travel on the touchscreen, Summon does not start a parking maneuver when you exit.

Stopping or Canceling Summon

Stop Model Y at any time while Summon is active by using the mobile app or by pressing any button on the key fob accessory. Summon also cancels when:

• A door handle is engaged or a door is opened.
• You interact with the steering wheel, brake pedal, accelerator pedal, or shift.
• Model Y detects an obstacle.
• Summon has moved Model Y the maximum distance of approximately 39 feet (12 meters).
• Your phone enters sleep mode or loses connectivity to Model Y.

Limitations

Summon is unlikely to operate as intended in the following types of situations:

• The driving path is sloped. Summon is designed to operate on flat roads only (up to 10% grade).
• A raised concrete edge is detected. Summon does not move Model Y over an edge that is higher than approximately 1 in (2.5 cm).
• One or more of the ultrasonic sensors (if equipped) or cameras is damaged, dirty, or obstructed (such as by mud, ice, or snow, or by a vehicle bra, excessive paint, or adhesive products such as wraps, stickers, rubber coating, etc.).
• Weather conditions (heavy rain, snow, fog, or extremely hot or cold temperatures) are interfering with sensor operation.
• The sensors (if equipped) are affected by other electrical equipment or devices that generate ultrasonic waves.
• Model Y is in Trailer Mode or an accessory is attached.

NOTE: Summon is disabled if Model Y is in Valet mode.

WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of Summon. It is the driver’s responsibility to remain in control of Model Y at all times. Pay close attention whenever Summon is actively moving Model Y and stay prepared to take immediate action. Failure to do so can result in serious property damage, injury or death.

FAQ