According to the notice, the FSD Beta system may allow the vehicle to act unsafe around intersections, such as traveling straight through an intersection while in a turn-only lane, entering a stop sign-controlled intersection without coming to a complete stop, or proceeding into an intersection during a steady yellow traffic signal without due caution. In addition, the system may respond insufficiently to changes in posted speed limits or not adequately account for the driver’s adjustment of the vehicle’s speed to exceed posted speed limits, the notice said.

The issue was discovered during NHTSA’s engineering analysis and testing of the system. NHTSA said it found that in certain situations, Tesla’s Autosteer on City Streets feature led to an unreasonable risk to motor vehicle safety based on insufficient adherence to traffic safety laws. As required by law and after discussions with NHTSA, Tesla launched a recall to repair those defects, the agency said in an emailed statement. 

NHTSA reached out to Tesla on January 25 as part of “regular ongoing communications” between Tesla and the agency relating to Autopilot and FSD Beta, according to the Defect Information Report, which includes a chronology of events leading up the recall. At that time, NHTSA advised Tesla that it had identified potential concerns related to certain operational characteristics of FSD Beta in four specific roadway environments.

Tesla met with NHTSA “numerous times” over the next several days to discuss the agency’s concerns and Tesla’s proposed over-the-air improvements in response, according to the report.