Model S

2021 Tesla Model S Autosteer Owner Manual

Contents hide

1 2021 Tesla Model S Autosteer

2 Operating Autosteer

2.1 Restricted Speed

2.2 Hold Steering Yoke

2.3 Take Over Immediately

2.4 Canceling Autosteer

3 Auto Lane Change

3.1 Operating Auto Lane Change

4 Adjacent Lane Speed

5 Stop Light and Stop Sign Warning

6 Limitations

2021 Tesla Model S Autosteer

Note

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

Note

Autosteer is a BETA feature.

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

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).

CAUTION

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

Warning

Autosteer is a hands-on feature. You must keep your hands on the steering yoke at all times.

Warning

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

Operating Autosteer

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

To indicate that Autosteer is available (but not actively steering Model S), the instrument panel displays a gray Autosteer icon.

To initiate Autosteer, press the right scroll wheel.

Note

If the setting for Autosteer Activation is set to Single Click (touch Controls > Autopilot > Autosteer Activation), Autosteer engages when you single-press the right scroll wheel. If set to Double Click, you must double-press the right scroll wheel to engage Autosteer.

To indicate that Autosteer is now actively steering Model S, the instrument panel displays the Autosteer icon in blue. When Autosteer is able to detect lane markings, it also displays the driving lane in blue.

Autosteer briefly displays a message on the instrument panel reminding you to pay attention to the road and be ready to take over at any time.

The speed at which you can initiate Autosteer can vary depending on various conditions and whether or not a vehicle is detected ahead of you. When no vehicle is detected ahead of you, you must be driving at least 18 mph (30 km/h), unless certain vehicle and environmental conditions are met, in which case, you may be able to initiate it at lower speeds. When a vehicle is detected ahead of you, you can initiate Autosteer at any speed, even when stationary, provided Model S is at least 5 feet (150 cm) behind the detected vehicle.

Note

The maximum cruising speed is 90 mph (150 km/h). It is the driver’s responsibility to cruise at a safe speed based on road conditions and speed limits.

Note

For vehicles manufactured after approximately February 13, 2022, the maximum cruising speed when using Autosteer may be limited to a lower speed.

CAUTION

If available in your market region, Model S detects lights from an emergency vehicle when using Autosteer at night on a high speed road, the driving speed is automatically reduced and the instrument panel 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 yoke. When the light detections pass by or cease to appear, Autopilot resumes your cruising speed. Alternatively, you may tap the accelerator to resume your cruising speed.

Warning

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

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

If unable to detect lane markings, Autosteer may determine the driving lane based on a vehicle you are following.

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

Warning

Autosteer is not designed to, and will not, steer Model S 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 S at all times.

Restricted Speed

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

In situations where the speed limit cannot be detected when Autosteer is engaged, Autosteer reduces your driving speed and limits the set cruising speed to 45 mph (70 km/h). Although you can manually accelerate to exceed the limited speed, Model S 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 yoke, you can increase your set speed again, if desired.

Hold Steering Yoke

Autosteer determines how best to steer Model S. When active, Autosteer requires you to hold the steering yoke. If it does not detect your hands on the steering yoke for a period of time, a flashing light appears along the top of the instrument panel and the following message displays:

Apply slight turning force to steering yoke

Autosteer detects your hands by recognizing slight resistance as the steering yoke turns, or from you manually turning the steering yoke 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 yoke.

Note

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

Autosteer requires that you pay attention to your surroundings and remain prepared to take control at any time. If Autosteer still does not detect your hands on the steering yoke, the flashing light on the instrument panel increases in frequency and a chime sounds.

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

Autosteer unavailable for the rest of this drive. Hold steering yoke 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 S into Park).

Take Over Immediately

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

Take over immediately

When you see this message, TAKE OVER STEERING IMMEDIATELY.

Canceling Autosteer

Autosteer cancels when:

You press the brake pedal.
You start steering manually.
You exceed the maximum speed at which Autosteer operates – 90 mph (150 km/h).
You shift.
A door is opened.
An Automatic Emergency Braking event occurs (see Collision Avoidance Assist).

When Autosteer cancels, it sounds a chime and the Autosteer icon either turns gray to indicate that Autosteer is no longer active, or disappears to indicate that it is not currently available.

Note

If Autosteer Activation is set to Double Click and Autosteer cancels because you started steering manually, Traffic-Aware Cruise Control remains active. If Autosteer Activation is set to Single Click and Autosteer cancels because you started steering manually, Traffic-Aware Cruise Control also cancels.

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

Auto Lane Change

Note

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

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

Warning

It is the driver’s responsibility to determine whether a lane change is safe and appropriate. Therefore, before initiating a lane change, always check blind spots, lane markings, and the surrounding roadway to confirm it is safe and appropriate to move into the target lane.

Warning

Never depend on Auto Lane Change to determine an appropriate driving path. Drive attentively by watching the road and traffic ahead of you, checking the surrounding area, and monitoring the instrument panel for warnings. Always be prepared to take immediate action.

Warning

Do not use Auto Lane Change on roads where traffic conditions are constantly changing and where bicycles and pedestrians are present.

Warning

The performance of Auto Lane Change depends on the ability of the camera(s) to recognize lane markings.

Warning

Do not use Auto Lane Change on winding roads with sharp curves, on icy or slippery roads, or when weather conditions (such as heavy rain, snow, fog, etc.) may be obstructing the view from the camera(s) or sensors.

Warning

Failure to follow all warnings and instructions can result in property damage, serious injury or death.

Operating Auto Lane Change

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

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

Note

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

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

The turn signal is engaged.
Model S 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 S must detect the target lane’s outside lane marking. If this lane marking is not detected, the lane change is aborted and Model S returns to its original driving lane.
The view of the camera(s) is not obstructed.

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

Note

Auto Lane Change movesModel S one lane at a time. Moving into an additional lane requires you to engage the turn signal a second time after the first lane change is complete.

When using Auto Lane Change, it is important to monitor its performance by watching the driving path in front of you and the surrounding area. Stay prepared to take over steering at any time. As you are crossing over into the adjacent lane, the instrument panel displays the location in the lane that Model S is moving into.

In situations where Auto Lane Change is unable to operate at optimal performance, or cannot operate due to inadequate data, the instrument panel displays a series of warnings. Therefore, when using Auto Lane Change, always pay attention to the instrument panel and be prepared to manually steer Model S.

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 S automatically reduces the driving speed. This is especially helpful in heavy traffic situations or when vehicles are constantly merging into different lanes. When Model S detects other vehicles driving significantly slower, the instrument panel highlights the adjacent lanes with arrows and detected vehicles in gray, and Model S reduces the driving speed as appropriate. To temporarily override this feature, press the accelerator pedal.

Warning

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

Stop Light and Stop Sign Warning

Note

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

While Autosteer is in use, Model S displays a warning on the instrument panel and sounds a chime if it detects that you are likely to run through a red stop light or stop sign. If this happens, TAKE IMMEDIATE CORRECTIVE ACTION!

The visual and audible warnings cancel after a few seconds, or when you press the brake pedal, whichever comes first.

Stop Light and Stop Sign Warning provides warnings only. It does not slow down or stop Model S 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 S at traffic lights and stop signs (see Traffic Light and Stop Sign Control).

Note

Touch Controls > Autopilot > Full Self-Driving Visualization Preview (if equipped) to display more details about the roadway and its surroundings, such as road markings, stop lights, objects (such as trash cans and poles), etc.

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 S and may not detect all stop lights and stop signs. Stop Light and Stop Sign Warning is designed for guidance purposes only and is not a substitute for attentive driving and sound judgment. Keep your eyes on the road when driving and never depend on Stop Light and Stop Sign Warning to warn you of a stop light or stop sign.

Warning

Stop Light and Stop Sign Warning is designed to warn you only when approaching a visible red stop sign, solid red or later portion of a yellow traffic light. It may not warn you of intersections with flashing lights and it does not warn you of yield signs or temporary stop and yield signs (such as those used in construction areas). Additionally, Stop Light and Stop Sign Warning does not warn you of approaching stop lights or stop signs when you are pressing the accelerator pedal or brake pedal (which disables Autosteer).

Limitations

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

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

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