Full Self-Driving (Supervised)

Note

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

When Full Self-Driving (Supervised) (also referred to as Autosteer on City Streets) is engaged, Model Y 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 Autopilot, 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 Y to build a model of the area surrounding Model Y (see Cameras). The Full Self-Driving computer installed in Model Y is designed to use this input, rapidly process neural networks, and make decisions to safely guide you to your destination.

Note

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

Like other Autopilot 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.While Full Self-Driving (Supervised) is engaged, the cabin camera monitors driver attentiveness (see Driver Attentiveness).

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 Limitations and Warnings.

CAUTION

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

CAUTION

As Full Self-Driving (Supervised) deployment expands, Tesla will gradually make it available to eligible customers in select countries outside of the United States and Canada. Because every country contains unique infrastructure, driving behaviors, and traffic patterns that Full Self-Driving (Supervised) must adapt to over time, it is essential for drivers using Full Self-Driving (Supervised) in newly eligible countries to be extra attentive and overly cautious. You must be ready to take over safely at any time.

Before Using Full Self-Driving (Supervised)

Enable Full Self-Driving (Supervised). Touch Controls > Autopilot > Full Self-Driving (Supervised) and then, after carefully reading and understanding the popup window, touch Yes.
Customize Full Self-Driving (Supervised) settings by touching Controls > Autopilot.
- Full Self-Driving (Supervised) Profile: If desired, change the default setting of Standard to Chill or Assertive. Chill provides a more relaxed driving style and Assertive drives with more urgency.
- Minimal Lane Changes for the Current Drive: When selected, Full Self-Driving (Supervised) makes fewer lane changes on the current drive. Model Y will still make lane changes as necessary to follow the navigation route.
  Note
  While Full Self-Driving (Supervised) is selected, tilting the right steering wheel button to the right or left also allows you to change the Full Self-Driving (Supervised) profile and enable or disable Minimal Lane Changes.
- Lane Change Notification: Choose Chime, Vibration, or Both to be notified of an upcoming lane changes (in addition to the notification on the touchscreen).
- Automatic Set Speed Offset: When enabled, Model Y drives at the speed that Autopilot determines to be the most natural. This considers factors like road type, traffic flow, environmental conditions, the selected Full Self-Driving (Supervised) profile setting, and the detected speed limit.
  Warning
  You are responsible for the speed of the vehicle at all times, whether Autopilot is engaged or not.
Ensure that the cameras on Model Y 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.
Ensure that the latest version of maps has been downloaded to Model Y (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.

To Use 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 (150 km/h) (including when Model Y is at a standstill) by pulling the drive stalk down once fully.

Image of the drive stalk with an arrow going down.

If you do not choose a destination, Model Y 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 top corner of the touchscreen displays a gray steering wheel icon next to the driving gear.

When Full Self-Driving (Supervised) is engaged, the steering wheel icon is blue and a blue line represents your driving path.

The touchscreen displays the maximum speed in blue. When you engage Full Self-Driving (Supervised), the set cruising speed defaults to the speed limit, plus any offset you’ve specified. If Autopilot is unable to determine the speed limit, the cruising speed is your current speed, in addition to any specified offset.

When Full Self-Driving (Supervised) is engaged, the touchscreen displays a visualization of the environment surrounding Model Y, 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 Y that may not be represented in the visualization (see Cameras).

The visualization will also inform you of the system’s intended action by displaying a message on the touchscreen, such as when the vehicle is slowly creeping for visibility to take a turn at an intersection.

You can widen the visualization area to fullscreen. Enable the setting by touching Controls > Autopilot > Full Self-Driving (Supervised) > Expanded Full Self-Driving Visualization. Then on the touchscreen, swipe the visualization window handle to fill the entire screen.

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 Y at all times.

Canceling Full Self-Driving (Supervised)

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

Press the brake pedal.
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.
Take over and steer manually.

When you disengage Full Self-Driving (Supervised) by steering manually, Traffic-Aware Cruise Control remains active.

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

You shift out of Drive.
A door or trunk is opened.
There is an Automatic Emergency Braking event (see Collision Avoidance Assist).
The driver's seatbelt 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 touchscreen.
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 touchscreen 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 safe environment without other road users so you may become familiar with the process.

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.

Like Autosteer and Traffic-Aware Cruise Control, Full Self-Driving (Supervised) maintains your speed and following distance from the vehicle ahead of Model Y, 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 Y, 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 touchscreen 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 Lanes

To tell Full Self-Driving (Supervised) to change lanes while on a multi-lane roadway, engage the right or left turn signal. On city or residential streets, engaging the right or left turn signal tells Full Self-Driving (Supervised) to make a right or left turn, respectively.

Unlike Navigate on Autopilot, Full Self-Driving (Supervised) does not require confirmation before a lane change. To cancel a lane change or turn, cancel the turn signal or intervene with the steering wheel or other vehicle controls.

Changing the Set Speed

While Full Self-Driving (Supervised) is active, roll the right scroll wheel up to increase, or down to decrease, the set speed.

Note

In some cases, your speed is limited by the speed limit, the type of roadway, or the flow of traffic. If this is the case, Full Self-Driving (Supervised) displays a message at the top of the visualization.

Arriving at Your Destination

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

Driver Attentiveness

Like other Autopilot features, Full Self-Driving (Supervised) requires that the driver pay attention to the road, their surroundings, and other road users.

The cabin camera monitors continued driver attentiveness when Full Self-Driving (Supervised) is engaged. This system cannot be disabled. The cabin camera does not require full visibility of the driver's eyes in order to monitor attentiveness. The system is still active, for example, if the driver is wearing sunglasses.

If the cabin camera does not have clear visibility of the driver's hand and arm locations, Full Self-Driving (Supervised) periodically displays a message reminding the driver to apply slight force to the steering wheel.

Please pay attention to the road

When the cabin camera is actively monitoring driver attentiveness, a green dot appears next to the steering wheel icon on the touchscreen.

If the driver repeatedly looks away from the road, the touchscreen displays a warning. The warning is dismissed once the driver begins paying attention to the road again.

If the driver repeatedly ignore prompts to apply slight force to the steering wheel or to pay attention, Full Self-Driving (Supervised) displays a series of escalating warnings and, if those warnings are ignored, disables for the rest of the drive and displays the following message.

Autopilot unavailable for current drive. Autopilot Strikeout - Attention warnings ignored.

If the driver does not resume manual steering, Full Self-Driving (Supervised) sounds a continuous chime, turns on the warning flashers, and slows the vehicle to a complete stop.

Warning

Do not use handheld devices while using Full Self-Driving (Supervised). If the cabin camera detects a handheld device while Full Self-Driving (Supervised) is engaged, the touchscreen displays a message reminding you to pay attention and keep your hands on the wheel.

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.

Autopilot Suspension

Use of Autopilot 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 five Autopilot "strikeouts." A strikeout is when the Autopilot 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 Autopilot access is suspended by touching Controls > Autopilot.

A strikeout is forgiven after 7 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 also lose access to Autopark. However, 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.

Take Over Immediately

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

Take over immediately

When you see this message, take over steering immediately.