To enable Autosteer :

1. Touch Controls > Self-Driving > Autosteer (Beta) .
2. After carefully reading and understanding the popup window, touch Yes.

When you engage Autosteer , Model Y confirms activation with an audible chime and briefly displays a message on the touchscreen reminding you to pay attention to the road and have your hands on the steering wheel.

To indicate that Autosteer is available (but not actively steering Model Y), the top corner of the touchscreen displays a gray steering wheel icon next to the driving gear.

When a Autosteer is engaged and actively controlling Model Y, the steering wheel icon is blue.

In situations where Autosteer is temporarily unavailable (For example, if your driving speed is not within the operating range), a gray dot displays in the status bar at the top of the touchscreen.

When Autosteer is able to detect lane markings, it displays the edges of the driving lane in blue on the touchscreen.

Whenever Autosteer is active, Traffic-Aware Cruise Control is active as well.

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 70 km/h. Although you can manually accelerate to exceed the limited speed, Model Y will not brake for detected obstacles as long as you are applying the accelerator pedal. 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.

If you engage a turn signal while Autosteer is active, Model Y moves into the adjacent lane in the direction indicated by the turn signal, provided the following conditions are met:

• The turn signal is engaged.
• Lane markings indicate that a lane change is permitted.
• Auto Lane Change detected your hands on the steering wheel.
• Midway through the lane change, Model Y must detect the target lane's outside lane marking. If this lane marking is not detected, the lane change is aborted and Model Y returns to its original driving lane.
• The view of the camera(s) is not obstructed.
• Model Y does not detect a vehicle in its blind spot, or a vehicle or obstacle up to the center of the target lane. If a vehicle or other obstacle is detected in the target lane, it is shown in red in the visualization on the touchscreen and Model Y does not complete the lane change until it is safe to do so.

To indicate that Auto Lane Change is available in a given direction (left, right, or both), a telltale displays on the touchscreen panel. Appears only while Autosteer is active.

Indicates that Auto Lane Change is not available in either direction. Appears only while Autosteer is active.

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

When you engage a turn signal, 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.

As Model Y changes lanes, 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.

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

• Enable at Start of Every Trip: Choose whether to automatically enable Navigate on Autosteer for every navigation route. When enabled, the Navigate on Autosteer button on the turn-by-turn direction list is already enabled at the start of every trip.
• Speed Based Lane Changes: Navigate on Autosteer is designed to perform both route-based and speed-based lane changes. Speed-based lanes changes are optional. You can use this setting to disable speed-based lane changes or to specify how assertively you want Navigate on Autosteer to change lanes to achieve the set cruising speed (Mild, Average, or Mad Max).

If Enable at Start of Every Trip is turned on, Navigate on Autosteer engages automatically when:

• Autosteer is active.
• You are navigating to a destination.
• You are on a controlled-access highway.

Once enabled, the Navigate on Autosteer 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.

If Enable at Start of Every Trip is turned off, touch the Navigate on Autosteer button above the turn-by-turn directions to enable it. Once the Navigate on Autosteer is selected, it will engage whenever you engage Autosteer .

The Navigate on Autosteer icon shows in the turn-by-turn direction list when you are navigating to a destination and Navigate on Autosteer is available but not active.

If Navigate on Autosteer is active, the icon is blue. If Enable at Start of Every Trip is turned on, the Navigate on Autosteer icon is selected whenever you start navigation. Touch the icon to cancel Navigate on Autosteer and revert to Autosteer .

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

The turn-by-turn directions display the Autosteer icon next to the maneuvers (such as off-ramps) that Navigate on Autosteer will handle.

When Navigate on Autosteer is engaged Model Y makes both speed-based and route-based lane changes after driver confirmation.

• Speed Based Lane Changes: Navigate on Autosteer changes lanes to reduce driving time to your destination. For example, if Model Y is behind a vehicle going below the set cruising speed, Navigate on Autosteer will move into the passing lane to pass it. Speed-based lanes changes are optional.
• Route Based Lane Changes: Navigate on Autosteer changes lanes to route you to your destination. For example, Navigate on Autosteer will move into the exit lane as Model Y approaches the off-ramp specified by the navigation route.

When the touchscreen displays a message asking you to confirm the lane change, engage the appropriate turn signal. If you do not confirm the lane change within 3 seconds, a chime sounds to remind you that Navigate on Autosteer requires your confirmation to change lanes. Auto Lane Change cancels if the lane change cannot be completed in 5 seconds.

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 Autosteer is unable to maneuver onto the off-ramp and as a result, you are re-routed to your destination.

Navigate on Autosteer activates and deactivates based on the type of road you are driving on. When Navigate on Autosteer 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.

When you leave a controlled-access highway Navigate on Autosteer reverts 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). When Navigate on Autosteer deactivates, Autosteer remains active. Always be prepared to take appropriate action.

Autosteer cancels when:

• You move the drive stalk upward

  

  CAUTION

  If you move the drive stalk upward and hold it up for more than one second, Model Y shifts into Neutral after canceling Autosteer .
• You press the brake pedal.
• You exceed 140 km/h.
• You shift into Reverse, Park, or Neutral.
• A door is opened.
• An Automatic Emergency Braking event occurs (see Collision Avoidance Assist).
• The driver's seatbelt is released, and/or the driver gets out of their seat.
• You exceed 140 km/h.
• You apply rotational force to the steering wheel (even a slight amount).
  Warning

  If Self-Driving Activation is set to Double Pull and Autosteer cancels because you applied rotational force to the steering wheel, Traffic-Aware Cruise Control remains active. If Self-Driving Activation is set to Single Pull and Autosteer cancels because you applied rotational force to the steering wheel, Traffic-Aware Cruise Control also cancels.
• You do not respond to repeated reminders to keep your hands on the wheel and subsequent messages on the touchscreen .

When Autosteer cancels, a chime sounds 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.

When Navigate on Autosteer cancels but Autosteer remains active, a chime sounds and the visualization goes from a single blue line in the driving lane to two blue lines on either side of the lane.

When Autosteer 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 normally (see Regenerative Braking).

When Autosteer is active and maintaining a set speed, the speed is highlighted with blue text on the touchscreen.

When Autosteer is active, the steering wheel icon is blue and the lane markings are highlighted in blue on the visualization. If Navigate on Autosteer is also active, the Navigate on Autosteer button is blue and the touchscreen displays the driving lane as a single blue line in front of Model Y.

If unable to detect lane markings, Autosteer may determine the driving lane based on a vehicle you are following. In most cases, Autosteer attempts to center Model Y in the driving lane. However, there may be situations in which Autosteer follows a driving path that is offset from the center of the lane (for example, if guard rails are detected).

Changing the Set Speed

Roll the right scroll wheel up to increase, or down to decrease, the set speed.

To change the cruising speed to the current speed limit (including any offset you've specified), either:

• Push the drive stalk downward and briefly hold.
• Press the speed limit sign on the touchscreen.

It may take a few seconds for Model Y to reach the new cruising speed.

Note

On a residential road, a road without a center divider, or a road that is not controlled access, the maximum allowed cruising speed is limited and the touchscreen displays a message. The restricted speed will be the speed limit of the road plus 10 km/h.

Adjusting the Following Distance

To adjust the following distance you want to maintain between Model Y and a vehicle traveling ahead of you, press the steering wheel's right scroll button to the left or right.

The closest following distance is 2.

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. Autosteer retains your setting until you change it again.

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

Stopping and Slowdowns

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.

When following a vehicle, Autosteer remains active at low speeds, even when Model Y comes to a full stop. For example, Autosteer remains active even if Model Y slows down to a complete or near-complete stop in heavy, stop-and-go traffic on a highway. When traffic starts moving more rapidly, Autosteer again accelerates up to the set speed.

Sometimes when Model Y is at a full stop, Autosteer goes into a HOLD state. If this happens, 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.

Model Y goes into HOLD state while Autosteer is active in the following circumstances:

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

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

Self-Driving is Aborting

When you see this message, take over steering immediately.

Autosteer requires driver attentiveness. Your hands must be on the steering wheel at all times while Autosteer is engaged, and you must monitor your surroundings, the road, and other road users.

Autosteer periodically displays a message reminding the driver to apply slight force to the steering wheel:

Apply slight turning force to steering wheel

Autosteer detects your hands by recognizing slight resistance as the steering wheel turns, or from you manually turning the steering wheel very lightly (without enough force to take over steering). If Model Y does not detect slight turning force on the steering wheel, the touchscreen flashes and eventually chimes repeatedly. Do not use handheld devices while Autosteer is engaged.

If you repeatedly ignore prompts to apply slight force to the steering wheel or to pay attention, 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.

Self-Driving temporarily disabled Driver attention warnings ignored

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

Use of Autosteer is suspended for a week when you or another driver of your vehicle receives five "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.

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.