Get Autopilot Guide for Tesla Model-Y SUV 2023

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. Radar (if equipped) is mounted behind the front bumper.

Model Y is also equipped with high precision electronically-assisted braking and steering systems.

NOTE: Ensure all cameras and sensors (if equipped) are clean before each drive. See Cleaning Cameras and Sensors

on page 90 for more information. Dirty cameras and sensors, as well as environmental conditions such as rain and

faded lane markings, can aﬀect Autopilot performance.

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About Autopilot

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.

Active Safety Features

These Active Safety 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 125)

• Cabin Camera (see Cabin Camera on page 126)

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.

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, software version and

build date, your vehicle may not be equipped with all

features listed below, or a feature may not operate as

described.

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.

These Autopilot convenience features are designed to

reduce driver workload:

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.

• Traﬃc-Aware Cruise Control (see Traﬃc-Aware

Cruise Control on page 91)

• Autosteer (see Autosteer on page 96)

NOTE: Model Y must repeat the calibration process if the

cameras are serviced by Tesla, and in some cases, after a

software update.

• Auto Lane Change (see Auto Lane Change on page

98)

• Autopark (see Autopark on page 111)

• Summon (see Summon on page 113)

• Smart Summon (Smart Summon on page 116)

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):

• Stop Light and Stop Sign Warning (see Stop Light

and Stop Sign Warning on page 99)

• Navigate on Autopilot (see Navigate on Autopilot on

page 101)

• Poor visibility (due to heavy rain, snow, fog, etc.).

• Bright light (due to oncoming headlights, direct

sunlight, etc.).

• Traﬃc Light and Stop Sign Control (see Traﬃc Light

and Stop Sign Control on page 104)

• Damage or obstructions caused by mud, ice, snow,

etc.

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.

• 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.

Drive to Calibrate Cameras

• Traﬃc signs that do not conform to standard

recognizable formats, such as digital or temporary

speed signs.

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.

• Narrow or winding roads.

• A damaged or misaligned body panel.

• Use of gray or aftermarket glass.

Autopilot

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About Autopilot

• 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

(if equipped) 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 cameras

and sensors (if equipped) clean and free of obstructions,

condensation, or damage (see Cleaning on page 191).

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 (see

Mobile App on page 151).

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.

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Traﬃc-Aware Cruise Control

NOTE: Depending on market region, vehicle

detected ahead of you, you can initiate Traﬃc-Aware

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.

Cruise Control at any speed, even when stationary,

provided Model Y is at least 5 feet (1.5 m) 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.

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.

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.

Traﬃc-Aware Cruise Control is primarily intended for

driving on dry, straight roads, such as highways.

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.

CAUTION: Ensure all cameras and sensors (if

equipped) 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 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: When cruising at the speed limit,

there may be situations where the cruising

speed may not change when the speed limit

changes.

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 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.

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.

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, as described in Autosteer on page 96).

To Use Traﬃc-Aware Cruise Control

3. To change your speed while using Traﬃc-Aware

Cruise 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

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

(including any oﬀset you've speciﬁed), by either long

Autopilot

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Traﬃc-Aware Cruise Control

pressing the drive stalk down, or touching the speed

limit sign on the touchscreen. For more details, see

Changing the Cruising Speed on page 92.

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 (see Adjust the Following Distance on page

93), up to the set speed.

4. To cancel Traﬃc-Aware Cruise Control, push the drive

stalk up once or press the brake pedal. See Canceling

and Resuming on page 94 for more information.

Set Traﬃc-Aware Cruise Control

Chime

Traﬃc-Aware Cruise Control also adjusts the cruising

speed when entering and exiting curves.

If you want a chime to sound when you engage or

cancel Traﬃc-Aware Cruise Control, touch Controls >

Autopilot > Traﬃc-Aware Cruise Control Chime.

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: Model Y must be in Park.

Changing the Cruising 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.

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. For example, if

you are traveling at 57 mph and quickly roll the scroll

wheel, the speed increases to 60 mph.

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

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.

inappropriately.

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.

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Traﬃc-Aware Cruise Control

WARNING: Traﬃc-Aware Cruise Control may be

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 inadequate signal), engaging the

turn signal near an exit does not cause Traﬃc-Aware

Cruise Control to slow down Model Y.

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.

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.

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:

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.

• Model Y has been at a standstill for 5 minutes.

Adjust the Following Distance

• Model Y detects a pedestrian (the HOLD state may

clear when the pedestrian is no longer detected).

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. 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. Your setting is

retained until you manually change it.

• 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.

The closest following distance is 2.

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.

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Traﬃc-Aware Cruise Control

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.

OR

• 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.

As you adjust the following distance, the touchscreen

displays the current setting.

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

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.

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.

Canceling and Resuming

Overtake Acceleration

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.

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:

WARNING: Do not hold the drive stalk up for more

than one second. Doing so cancels Traﬃc-Aware

Cruise Control and shifts Model Y into Neutral.

• 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).

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Traﬃc-Aware Cruise Control

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

To resume cruising, move the drive stalk fully down once

then release.

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:

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 (see Regenerative Braking

on page 66).

• 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).

WARNING: Traﬃc-Aware Cruise Control cancels,

or may not be available, in the following situations:

• A camera or sensor (if equipped) is obstructed

(fogged over, dirty, covered by a sticker, etc.).

• You press the brake pedal.

• Your driving speed exceeds the maximum cruising

speed of 90 mph (150 km/h).

WARNING: The list above does not represent an

exhaustive list of situations that may interfere with

proper operation of Traﬃc-Aware Cruise Control.

• You shift Model Y.

• A door is opened.

• A camera or sensor (if equipped) 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.

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Autosteer

NOTE: Depending on market region, vehicle

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.

conﬁguration, options purchased, and software version,

your vehicle may not be equipped with Autosteer, or the

feature may not operate exactly as described.

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: Autosteer is a BETA feature.

Autosteer builds upon Traﬃc-Aware Cruise Control (see

Traﬃc-Aware Cruise Control on page 91), 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 (see Auto Lane

Change on page 98). Autosteer detects lane markings

and the presence of vehicles and objects to steer Model

Y.

NOTE: To display more details about the roadway and its

surroundings, such as road markings, stop lights, objects

(such as trash cans and poles), etc., touch Controls >

Autopilot > Full Self-Driving Visualization Preview (if

equipped).

NOTE: Auto High Beam is automatically enabled when

Autosteer is engaged and the maximum cruising speed

is 85 mph (140 km/h).

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.

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, 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.

WARNING: Never depend on Autopilot features to

determine the presence of emergency vehicles.

Model Y may not detect lights from emergency

vehicles. 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).

Operating Autosteer

NOTE: In low light conditions (dusk or dark), Autosteer

aborts or is unavailable if headlights are set to Oﬀ. For

best results, set headlights to Auto.

Before you can operate Autosteer, you must enable it by

touching Controls > Autopilot > Autosteer (Beta).

If unable to detect lane markings, Autosteer may

determine the driving lane based on a vehicle you are

following.

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.

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).

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.

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Autosteer

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.

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.

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).

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).

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.

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

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:

When you see this message, TAKE OVER STEERING

IMMEDIATELY.

Canceling Autosteer

Apply slight turning force to steering

wheel

Autosteer cancels when:

• You press the brake pedal.

• You start steering manually.

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.

• 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 (see

Collision Avoidance Assist on page 122).

NOTE: When your hands are detected, the message

disappears and Autosteer resumes normal operation.

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.

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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.

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 (if equipped).

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.

WARNING: Failure to follow all warnings and

instructions can result in property damage, serious

injury or death.

To disable Autosteer so it is no longer available, touch

Controls > Autopilot > Autosteer (Beta).

Operating Auto Lane Change

Auto Lane Change is available whenever Autosteer is

active. To change lanes using Auto Lane Change:

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.

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.

When Autosteer is active, engage a turn signal to move

Model Y into an adjacent lane (moving the steering

wheel would cancel Autosteer).

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.

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.

• The view of the camera(s) is not obstructed.

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.

When an automatic lane change is in progress, Overtake

Acceleration is activated, allowing Model Y to accelerate

closer to a vehicle in front (see Overtake Acceleration on

page 94).

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.

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.

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.

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Autosteer

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.

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.

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: 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).

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.

Limitations

Stop Light and Stop Sign Warning

Autosteer and its associated functions are particularly

unlikely to operate as intended when:

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.

• 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.

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.

• 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.

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 (see Traﬃc Light and Stop Sign Control

on page 104).

• 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.

Autopilot

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• 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.

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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.

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.

NOTE: Navigate on Autopilot is a BETA feature.

• Exit Passing Lane: Choose whether you want

Navigate on Autopilot to maneuver out of a passing

lane when navigating to a destination.

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).

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.

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.

• 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: 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.

WARNING: If you turn oﬀ Require Lane Change

Conﬁrmation, Navigate on Autopilot notiﬁes

you of upcoming lane changes and oﬀ-ramps,

but it remains your responsibility to monitor the

environment and maintain control of Model 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.

Enabling and Customizing Navigate

on Autopilot

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.

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:

Operating 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.

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.

• 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

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.

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Navigate on Autopilot

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

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.

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:

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 (see Canceling

Autosteer on page 97).

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:

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).

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.

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 153). 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.

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: When Navigate on Autopilot

deactivates, Autosteer remains active. Always be

prepared to take appropriate action.

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Navigate on Autopilot

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.

Autopilot

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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.

• 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.

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.

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.

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

cruise control or Autosteer. This feature uses the

vehicle's forward-facing cameras, in addition to GPS

data, and slows the car for all detected traﬃc lights,

including green, blinking yellow, and oﬀ lights in addition

to stop signs and some road markings. As Model 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.

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,

provided you are not in a turning lane and your hands

are detected on the steering wheel.

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.

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.

Before Using

Before using Traﬃc Light and Stop Sign Control, you

must:

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).

• Ensure that forward-facing cameras are unobstructed

(see Cleaning Cameras and Sensors on page 90) and

calibrated (see Drive to Calibrate Cameras on page

89). 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 (see Map Updates

on page 158).

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).

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Traﬃc Light and Stop Sign Control

• 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.

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Traﬃc Light and Stop Sign Control

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.

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Traﬃc Light and Stop Sign Control

Type of Traﬃc Light

Vehicle Intended Response

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.

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Traﬃc Light and Stop Sign Control

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.

No Traﬃc Control

Arm of T-junction

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).

End of T-junction

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.

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Traﬃc Light and Stop Sign Control

Type of Intersection

Vehicle Intended Response

Stop Sign and Road Marking

Road Marking

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.

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Traﬃc Light and Stop Sign Control

• 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.

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Autopark

This feature may be temporarily limited or inactive until

it is enabled with a future software update for vehicles

manufactured as of approximately October 2022.

To Use Autopark

When driving, follow these steps to allow Autopark to

maneuver Model Y into a parking space:

NOTE: Depending on market region, vehicle

conﬁguration, options purchased, and software version,

your vehicle may not be equipped with Autopark.

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.

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 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

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.

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.

2. Check to determine if the detected parking space is

appropriate and safe. Pull forward and stop

• 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.

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.

• Autopark may not work with textured road surfaces

such as cobblestone or brick.

4. Autopark displays a message when parking is

complete.

Parallel Parking

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.

• 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.

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.

• 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.

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Autopark

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.

• 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.

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 122).

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 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 (if equipped) operation.

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Summon

WARNING: Parking in a narrow space limits the

ability of the cameras and sensors (if equipped)

to accurately detect the location of obstacles,

increasing the risk of damage to Model Y

and/or surrounding objects.

This feature may be temporarily limited or inactive until

it is enabled with a future software update for vehicles

manufactured as of approximately October 2022.

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.

• 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 (see Operating Summon with the

Key Fob on page 114) and you can start a parking

sequence from inside the vehicle (see Starting

Summon Before Exiting the Vehicle on page 114).

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). See Smart Summon on

page 116.

• 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.

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: 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: 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.

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.

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 (see Smart Garage Connectivity on

page 145).

WARNING: Summon's performance depends on

the ability of the cameras and 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:

NOTE: The above settings, with the exception of

HomeLink, apply only to Summon—not Smart Summon

(if equipped) (see Before Using Smart Summon on page

116). 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.

• 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.

NOTE: All settings are retained until you manually

change them.

• Summon Distance: Set a maximum distance that

Model Y can travel when entering or exiting a parking

space.

Using Summon to Park and Retrieve

your Vehicle

• 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.

Follow these steps to use Summon to park your Model

Y:

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Summon

• 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.

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.

• 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 (see Starting Summon Before

Exiting the Vehicle on page 114).

Operating Summon with the Key Fob

NOTE: Summon may not operate if the battery is low on

the key fob accessory.

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:

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).

• Model Y detects an obstacle in its driving path

(within the Bumper Clearance setting that you

speciﬁed).

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.

• 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).

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.

• 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 speciﬁed

(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).

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

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.

To start a Summon parking sequence before exiting

Model Y:

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.

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.

NOTE: Summon requires that Model Y can detect a valid

3. With Model Y powered on and Park engaged, double

press the Park button on the drive stalk. The

touchscreen displays a popup screen.

key nearby.

NOTE: Summon requires that Model Y can detect an

authenticated phone nearby (Canada only).

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.

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Summon

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 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

(see Valet Mode on page 51).

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.

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Smart Summon

This feature may be temporarily limited or inactive until

it is enabled with a future software update for vehicles

manufactured as of approximately October 2022.

Before Using Smart Summon

• Download the latest version of the Tesla mobile app

to your phone, and ensure your phone has cellular

service and GPS enabled.

NOTE: Depending on market region, vehicle

conﬁguration, options purchased, and software version,

your vehicle may not be equipped with Smart Summon,

or the feature may not operate exactly as described.

• Your phone must be connected to Model Y and

located within approximately 213 feet (65 meters).

• The vehicle's cameras must be fully calibrated (see

Drive to Calibrate Cameras on page 89).

Smart Summon is designed to allow you to move Model

Y to your location (using your phone's GPS as a target

destination) or to a location of your choice, maneuvering

around and stopping for objects as necessary. Smart

Summon works with the Tesla mobile app when your

phone is located within approximately 213 feet (65

meters) of Model Y. Smart Summon maneuvers Model Y

out of parking spaces and around corners. This is useful

for moving Model Y out of a tight parking spot, through

puddles, or helping you retrieve your car while carrying

packages. You must maintain a clear line of sight

between you and Model Y and closely monitor the

vehicle and its surroundings at all times.

• You must have a clear line of sight to Model Y.

• Model Y must be in Park, not charging, and all doors

and trunks must be closed.

Using Smart Summon

1. Open the Tesla mobile app, and press Summon.

2. Press the Smart Summon icon located in the center

of the image of your Model Y. It may take several

seconds for Smart Summon to start up.

CAUTION: Ensure all cameras and sensors (if

equpped) are clean. Dirty cameras and sensors, as

well as environmental conditions such as rain and

faded lane markings, can aﬀect Autopilot

performance.

NOTE: You can use Standby Mode to eliminate the

delay that occurs when Smart Summon is starting up

(see Standby Mode on page 117).

The mobile app displays a map with a blue circle,

which represents the maximum proximity of 213 feet

(65 meters) that you must maintain between your

phone and Model Y. The blue dot on the map

represents your location, and the red arrow

represents the location of Model Y.

WARNING: Smart Summon is designed and

intended for use only on parking lots and

driveways located on private property where the

surrounding area is familiar and predictable. Do

not use Smart Summon on public roads.

WARNING: Smart Summon must only be used on

paved surfaces.

3. Position yourself anywhere within the blue circle

where you have a clear line of sight to Model Y.

WARNING: Smart 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 Smart Summon safely, responsibly, and as

intended.

4. You can now operate Smart Summon using either of

these modes:

◦ Come to Me mode: Press and hold the Come to

Me button. Model Y moves to your GPS location.

As you move, Model Y follows you. When Model Y

reaches you, it stops and shifts into park.

WARNING: Smart Summon may not stop for all

objects (especially very low objects such as some

curbs, or very high objects such as a shelf) and

may not react to all traﬃc. Smart Summon does

not recognize the direction of traﬃc, does not

navigate around empty parking spaces, and may

not anticipate crossing traﬃc.

◦ Go to Target mode: Touch the crosshair icon then

drag the map to position the pin on a chosen

destination. Press and hold the Go to Target

button. Model Y moves to the destination. When

reaching the location, Model Y stops and shifts

into Park and the mobile app displays a message

indicating that Summon has completed.

WARNING: Smart Summon's performance

depends on the sensors (if equipped), the visibility

of the cameras, and the availability of an adequate

cellular signal and GPS data.

NOTE: To subsequently change the location, lift

your ﬁnger, reposition the map, then press and

hold Go to Target again.

WARNING: When using Smart Summon, you must

maintain a clear line of sight between you and

Model Y and stay prepared to stop the vehicle at

any time by releasing the button on the mobile

app.

To stop Model Y at any time, simply release the Come

to Me or Go to Target button.

The map's crosshair icon toggles between

Go to Target and Come to Me modes.

When Come to Me mode is selected, the

icon is blue.

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Smart Summon

Standby Mode

NOTE: The map also has an icon that

allows you to display/hide satellite imagery.

To keep Model Y ready to Summon and reduce the time

it takes to warm up, turn on Standby Mode. Touch

Controls > Autopilot > Standby Mode. When Standby

Mode is turned on, you can conserve Battery energy by

disabling Standby Mode at these locations:

Immediately after initiating Smart Summon in either

mode, hazard lights brieﬂy ﬂash, mirrors fold, and Model

Y shifts into Drive or Reverse. Model Y then slowly

moves to within 3 feet (1 meter) of you (COME TO ME)

or your chosen destination (GO TO TARGET), navigating

obstacles as needed. As Model Y moves, the

corresponding red arrow on the map also moves to

show the vehicle’s location. As you move, the

corresponding blue dot also moves to show your

location.

• Exclude Home - Disables Standby Mode at the

location you set as Home in your Favorites list.

• Exclude Work - Disables Standby Mode at the

location you set as Work in your Favorites list.

• Exclude Favorites - Disables Standby Mode at any

location in your Favorites list.

In either mode, Model Y stops moving and shifts into

park when:

NOTE: To conserve energy, Smart Summon

automatically exits Standby mode from midnight to

6:00 am. During these hours, a delay occurs as Smart

Summon starts up.

• You release the button on the mobile app.

• The maximum proximity of 213 feet (65 meters)

between your phone and Model Y is exceeded (if

moving Model Y to a destination away from you, you

may need to follow the car to maintain this distance).

NOTE: Additional battery power may be consumed

while Standby Mode is active.

• The driving path is blocked.

NOTE: For details on how to designate a location as

Home, Work, or Favorites, see Home, Work, and Favorite

Destinations on page 155.

• Model Y has moved the maximum distance of 475

feet (145 meters) since the start of the Smart

Summon session, or has moved 492 feet (150 meters)

away from the location from which the vehicle was

last driven manually.

Stopping or Canceling Smart

Summon

NOTE: If Smart Summon moves Model Y forward

three feet and then backwards two feet, this is

considered ﬁve feet of travel.

Smart Summon stops Model Y whenever you release the

button on the mobile app. To resume the Smart

Summon session, simply press the Come to Me or Go to

Target button again.

NOTE: There is no need to look at the mobile app—just

hold down the button while keeping your eye on Model

Y and its driving path at all times, remaining ready to

release the button to stop the vehicle if needed.

WARNING: Always anticipate when you need to

stop Model Y. Depending on the quality of the

connectivity between the phone and Model Y,

there may be a slight delay between when you

release the button and when the car stops.

If equipped and Auto HomeLink is enabled for Summon

(touch Controls > Autopilot > Customize Summon > Use

Auto HomeLink), Smart Summon automatically opens a

HomeLink device if you start the Smart Summon

maneuver when Model Y is located inside a garage. The

mobile app informs you that the door has opened.

Smart Summon cancels, and requires you to restart it,

when:

• A door handle is engaged or a door is opened.

WARNING: When you release the button to stop

Model Y, a slight delay occurs before the vehicle

stops. Therefore, it is critical that you pay close

attention to the vehicle’s driving path at all times

and proactively anticipate obstacles that the

vehicle may be unable to detect.

• You interact with the steering wheel, brake pedal,

accelerator pedal, or shift.

• Model Y is blocked by an obstacle.

• Smart Summon has moved Model Y the maximum

distance of approximately 475 feet (145 meters)

within a 213 foot (65 meter) radius of the phone's

location. To move further than this distance, you must

shift Model Y into Drive or Reverse and then re-

initiate an Smart Summon session.

WARNING: Use extreme caution when using Smart

Summon in environments where movement of

obstacles can be unpredictable. For example,

where people, children or animals are present.

• Your phone enters sleep mode or loses connectivity

to Model Y.

WARNING: Smart Summon may not stop for all

objects (especially very low objects such as some

curbs, or very high objects such as a shelf) and

may not react to all oncoming or side traﬃc. Pay

attention and be ready to stop Model Y at all times

by releasing the button on the mobile app.

Autopilot

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Smart Summon

Limitations

Smart Summon is unlikely to operate as intended in the

following types of situations:

• GPS data is unavailable due to poor cellular coverage.

• The driving path is sloped. Smart Summon is

designed to operate on ﬂat roads only (up to 10%

grade).

• A raised concrete edge is detected. Depending on

the height of the concrete edge, Smart Summon may

not move Model Y over it.

• One or more of the 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 (if equipped) or camera 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: Smart Summon is disabled if Model Y is in Valet

mode (see Valet Mode on page 51).

WARNING: The list above does not represent an

exhaustive list of situations that may interfere with

proper operation of Smart Summon. It is the

driver's responsibility to remain in control of Model

Y at all times. Pay close attention whenever Smart

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.

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Autopilot for Your Tesla Model-Y SUV 2023

Related Topics

Overview

Opening and Closing

Seating and Safety Restraints

Driving

Active Safety Features

Using the Touchscreen

Navigation and Entertainment

Charging and Energy Consumption

Maintenance

Specifications

Roadside Assistance

Troubleshooting

Consumer Information