Full Self-Driving (Supervised)

Note

Depending on market region, vehicle configuration, options purchased, Self-Driving hardware, and software version, your vehicle may not be equipped with Full Self-Driving (Supervised) , or the feature may not operate exactly as described.

When Full Self-Driving (Supervised) is engaged, Model S attempts to drive to your destination by following curves in the road, stopping at and negotiating intersections, making left and right turns, navigating roundabouts, and entering/exiting highways.

Unlike Traffic-Aware Cruise Control, Autosteer , and Navigate on Autosteer , which are intended for use on multi-lane roadways with clear lane markings, Full Self-Driving (Supervised) is meant to work in a variety of driving scenarios. You can use Full Self-Driving (Supervised) on any type of roadway, including residential and city streets.

Warning

Driver intervention may be required in certain situations, such as on narrow roads with oncoming cars, in construction zones, or while going through complex intersections. For more examples of scenarios in which driver intervention might be required, see Limitations and Warnings.

Full Self-Driving (Supervised) uses inputs from cameras mounted at the front, rear, left, and right of Model S to build a model of the area surrounding Model S (see Cameras). The AI computer installed in Model S is designed to use this input, rapidly process neural networks, and make decisions to guide you to your destination.

Note

As Tesla’s Full Self-Driving (Supervised) capabilities evolve, Model S is upgraded through over-the-air software updates. Download updates as soon as they become available.

Like other Self-Driving features, Full Self-Driving (Supervised) requires a fully attentive driver and will display a series of escalating warnings requiring driver response. You must keep your hands on the steering wheel while Full Self-Driving (Supervised) is engaged.

Warning

Full Self-Driving (Supervised) is a hands-on feature that requires you to pay attention to the road at all times. Keep your hands on the steering wheel at all times, be mindful of road conditions and surrounding traffic, pay attention to pedestrians and cyclists, and always be prepared to take immediate action (especially around blind corners, crossing intersections, and in narrow driving situations). Failure to follow these instructions could cause damage, serious injury or death. It is your responsibility to familiarize yourself with the limitations of Full Self-Driving (Supervised) and the situations in which it may not work as expected. For more information, see Self-Driving Limitations and Warnings.

CAUTION

Use of Full Self-Driving (Supervised) will be suspended if improper usage is detected. For more information, see Self-Driving Suspension.

CAUTION

As Full Self-Driving (Supervised) deployment expands to additional countries, it is essential for drivers using Full Self-Driving (Supervised) in newly eligible countries to be extra attentive and overly cautious. Every country contains unique infrastructure, driving behaviors, and traffic patterns that Full Self-Driving (Supervised) must adapt to over time. You must be ready to take over safely at any time.

Before Using Full Self-Driving (Supervised)

Enable Full Self-Driving (Supervised) . While Model S is parked, touch Controls > Self-Driving > Full Self-Driving (Supervised) and then, after carefully reading and understanding the popup window, touch Yes.
Note
Model S must be in Park for you to enable Full Self-Driving (Supervised) , or to disable it and instead enable Autosteer or Traffic-Aware Cruise Control.
(Optional) Customize Full Self-Driving (Supervised) settings.
- Full Self-Driving (Supervised) Profile: If desired, change the default setting of Standard to Chill or Hurry. Chill provides a more relaxed driving style with minimal lane changes and Hurry drives with more urgency. While Full Self-Driving (Supervised) is engaged and Model S is traveling at highway speeds, tilting the right scroll button to the right or left changes the Full Self-Driving (Supervised) profile.
- Max Speed Offset: Set the percentage offset over the currently detected speed limit that Full Self-Driving (Supervised) can drive if it is necessary to drive faster than the speed limit to match the flow of traffic.
  Warning
  You are responsible for the speed of the vehicle at all times, whether Self-Driving is engaged or not.
- Use HOV Lanes: Choose whether Full Self-Driving (Supervised) uses High Occupancy Vehicle (HOV) lanes on your route.
Note
When Full Self-Driving (Supervised) is enabled, the setting for Self-Driving Activation is set to Single Pull and Traffic-Aware Cruise Control and Autosteer are unavailable.
Ensure that the cameras on Model S are unobstructed and calibrated (see Cameras). Full Self-Driving (Supervised) depends on the ability of the cameras to detect traffic lights, stop signs, and road markings.
Note
Before
Warning
Do not use Full Self-Driving (Supervised) if anything, such as a ball hitch, bike rack, or trailer, is attached to the rear of your vehicle. If Model S detects that a camera is blocked (for example, by a rear-mounted bike rack), the touchscreen displays an alert and Full Self-Driving (Supervised) performance may be degraded or, in some cases, the feature is unavailable.
Ensure that the latest version of maps has been downloaded to Model S (see Map Updates). Although Full Self-Driving (Supervised) primarily uses visual data received from the vehicle's cameras, greater accuracy is achieved when using the most recent map data.

Starting Full Self-Driving (Supervised)

As long as Full Self-Driving (Supervised) is enabled and available, you can activate it at any speed less than 85 mph (140 km/h) (including when Model S is at a standstill) by pulling the Self-Driving stalk toward you.

Note

To engage Full Self-Driving (Supervised) , headlights must be set to On or Auto. Although Full Self-Driving (Supervised) is available both during the day and in low light conditions (dusk or dark), it aborts or is unavailable if headlights are set to Off. When Full Self-Driving (Supervised) is engaged, Adaptive Headlights (or, on some vehicles, Auto High Beam) is automatically enabled (see High Beam Headlights) and wipers are set to Auto.

Image of the Self-Driving stalk with an arrow going towards the driver.

If you do not choose a destination, Model S chooses the most probable driving path or suggests a destination based on your driving.

To indicate that Full Self-Driving (Supervised) is available but not engaged, the instrument panel displays a gray steering wheel icon.

When Full Self-Driving (Supervised) is engaged and actively controlling Model S, the steering wheel icon is blue.

Note

You can override Full Self-Driving (Supervised) at any time if you are uncomfortable or uncertain about the system’s intended course of action. You are driving Model S at all times.

While Using Full Self-Driving (Supervised)

Full Self-Driving (Supervised) changes lanes, makes left and right turns, follows on- and off-ramps, and takes forks in the road as necessary to reach the destination.

Warning

NEVER make assumptions and predict when and where Full Self-Driving (Supervised) will stop or continue through an intersection or road marking. From a driver's perspective, the behavior of Full Self-Driving (Supervised) 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 Full Self-Driving (Supervised) to determine when it is safe and/or appropriate to stop or continue through an intersection.

The instrument cluster displays a visualization of the environment surrounding Model S, including the roadway and detected objects such as vehicles, pedestrians, curbs, bicyclists, and more. Objects that are highlighted on the visualization represent priorities that Full Self-Driving (Supervised) is actively controlling for at a given time.

Note

The Full Self-Driving (Supervised) visualization may not be a holistic representation of the objects, road markings, road signals, and other variables that Full Self-Driving (Supervised) takes into account as it attempts to drive to your destination. While Full Self-Driving (Supervised) is engaged, it uses data from the cameras on Model S that may not be represented in the visualization (see Cameras).

Like Autosteer and Traffic-Aware Cruise Control, Full Self-Driving (Supervised) maintains your speed and following distance from the vehicle ahead of Model S, if there is one. Full Self-Driving (Supervised) also slows down and stops at traffic lights and stop signs as necessary, and reacts to pedestrians, cyclists, and other vehicles on the road.

For example, if you are driving on a residential street and another vehicle backs out of a driveway ahead of Model S, Full Self-Driving (Supervised) slows down or stops as appropriate. If the other vehicle stops backing out while partially blocking the driving lane, Full Self-Driving (Supervised) slows down and maneuvers around the other vehicle if the width of the lane allows it.

When the traffic in front of you is slowing down, Full Self-Driving (Supervised) shows blue arrows in the driving lane and slows down to maintain an appropriate following distance from the vehicle ahead of you. When you are driving on the highway, Full Self-Driving (Supervised) displays a message on the instrument cluster to inform you when an action (such as a lane change) is being taken.

Warning

In rare cases, Full Self-Driving (Supervised) may not appropriately slow down, come to a stop, or resume control for a stop sign or traffic light. You may assist the system by lightly applying the accelerator, or can override Full Self-Driving (Supervised) at any time.

Changing the Max Speed

The instrument cluster displays the max speed in blue. When Full Self-Driving (Supervised) is engaged, Self-Driving sets the max speed based on the currently detected speed limit, the Full Self-Driving (Supervised) profile, and other factors (such as the speed of surrounding traffic).

Roll the right scroll button up to increase, or down to decrease, the max speed.

The max speed limits how fast Model S drives while Full Self-Driving (Supervised) is active, but does not determine how quickly Full Self-Driving (Supervised) drives your vehicle.

To have Full Self-Driving (Supervised) drive Model S with more urgency, change the Full Self-Driving (Supervised) profile by pressing the right scroll button to the left or right.

To manually increase the speed of Model S, press the accelerator pedal.

Changing Lanes

Full Self-Driving (Supervised) initiates its own lane changes and turns based on the driving environment. Unlike Navigate on Autosteer , Full Self-Driving (Supervised) does not require confirmation before a lane change. You can also indicate your preference to make a lane change or turn by using the right or left turn signal, respectively.

Warning

When a lane change or turn is in progress, turn signal inputs may not cancel the maneuver. To cancel a lane change or turn, intervene with the steering wheel or other vehicle controls (see GUID-11E01B0B-DC74-4B8D-B979-DA37EC6F9093.html#GUID-2424BF1A-ABC6-4952-9023-389D73E345EB).

Take Over Immediately

In situations where Self-Driving is unable to steer Model S, a warning chime sounds and the instrument cluster displays the following message.

Take over immediately

When you see this message, take over steering immediately.

Arriving at Your Destination

Once you reach your destination, Full Self-Driving (Supervised) stops Model S and displays a message indicating that navigation is complete.

Canceling Full Self-Driving (Supervised)

To disengage Full Self-Driving (Supervised) , do any of the following:

Press the brake pedal.
Push the Self-Driving stalk away from you once.
Take over and steer manually.

In addition, Full Self-Driving (Supervised) will disengage if any of the following occurs:

You shift out of Drive.
A door or the trunk is opened.
There is an Automatic Emergency Braking event (see Collision Avoidance Assist).
The driver's seat belt is released, and/or the driver gets out of their seat.
You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the instrument cluster.
Full Self-Driving (Supervised) becomes unavailable. This can happen for a number of reasons (for example, if a camera becomes obscured). If Full Self-Driving (Supervised) disengages, an alert will appear on the instrument cluster to notify you and a chime will sound. If this happens, take control of steering immediately.

When driver intervention is required, it is best to safely disengage as soon as possible. It is recommended to practice disengaging from Full Self-Driving (Supervised) in a safe environment without other road users so you may become familiar with the process.

Driver Attentiveness

Self-Driving features require driver attentiveness. Your hands must be on the steering wheel at all times while Self-Driving is engaged, and you must monitor your surroundings, the road, and other road users.

Warning

The use of devices designed to circumvent driver attentiveness is a violation of the terms of use for Full Self-Driving (Supervised) and may result in the feature being permanently disabled on your vehicle and a ban on future use of the feature.

Self-Driving periodically displays a message reminding the driver to apply slight force to the steering wheel:

Apply slight turning force to steering wheel

Self-Driving 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). Self-Driving also qualifies your hands as being detected if you engage a turn signal use the Self-Driving stalk, or use a button or scroll button on the steering wheel. If Model S does not detect slight turning force on the steering wheel, the instrument cluster flashes and eventually chimes repeatedly. Do not use handheld devices while Self-Driving is engaged.

If you repeatedly ignore prompts to apply slight force to the steering wheel or to pay attention, Self-Driving disables for the rest of the drive and displays the following message requesting you to drive manually. If you don't resume manual steering, Self-Driving sounds a continuous chime, turns on the warning flashers, and slows the vehicle to a complete stop.

Self-Driving temporarily disabled Driver attention warnings ignored

Self-Driving Suspension

Use of Self-Driving features will be suspended if improper usage is detected.

Use of Autosteer and Full Self-Driving (Supervised) is suspended for a week when you or another driver of your vehicle receives three "strikeouts." A strikeout is when the Self-Driving system disengages for the remainder of a trip after the driver receives several audio and visual warnings for inattentiveness.

You can see how many strikeouts are remaining before Self-Driving access is suspended by touching Controls > Self-Driving .

A strikeout is forgiven after half a week (3.5 days), as long as you don't receive another strikeout in that time.

Note

If your access to Autosteer and Full Self-Driving (Supervised) is suspended, you can still use Traffic-Aware Cruise Control and all active safety features are still enabled.

There may be occasions where driver intervention is required and you must take over immediately to maintain safe driving. Driver-initiated disengagements do not count as improper usage and are expected from the driver.