Get Autopilot -> Autosteer Guide for Tesla Model-Y SUV 2023

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

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.

MODEL Y Owner's Manual

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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.

Autopilot

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Autosteer

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.

MODEL Y Owner's Manual

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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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Autosteer

• 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.

100

MODEL Y Owner's Manual

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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.

Autopilot

101

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Autopilot -> Autosteer for Your Tesla Model-Y SUV 2023

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