DETROIT (AP) — Tesla is recalling almost the entire automobiles it bought within the U.S., greater than 2 million throughout its mannequin lineup, to repair a faulty system that’s supposed to make sure drivers are paying consideration once they use Autopilot.

Paperwork posted Wednesday by U.S. security regulators say the corporate will ship out a software program replace to repair the issues.

The recall comes after a two-year investigation by the Nationwide Freeway Site visitors Security Administration right into a collection of crashes that occurred whereas the Autopilot partially automated driving system was in use. Some have been lethal.

The company says its investigation discovered Autopilot’s technique of making certain that drivers are paying consideration might be insufficient and might result in foreseeable misuse of the system.

The recall covers fashions Y, S, 3 and X produced between Oct. 5, 2012, and Dec. 7 of this 12 months.

The software program replace contains further controls and alerts “to additional encourage the driving force to stick to their steady driving duty,” the paperwork mentioned.

The replace was to be despatched to sure affected automobiles on Tuesday, with the remaining getting it at a later date, the paperwork mentioned.

Autopilot contains options known as Autosteer and Site visitors Conscious Cruise Management, with Autosteer meant to be used on restricted entry freeways when it’s not working with a extra refined function known as Autosteer on Metropolis Streets.

The software program replace apparently will restrict the place Autosteer can be utilized.

“If the driving force makes an attempt to have interaction Autosteer when situations will not be met for engagement, the function will alert the driving force it’s unavailable by means of visible and audible alerts, and Autosteer won’t interact,” the recall paperwork mentioned.

Relying on a Tesla’s {hardware}, the added controls embrace “rising prominence” of visible alerts, simplifying how Autosteer is turned on and off, further checks on whether or not Autosteer is getting used exterior of managed entry roads and when approaching site visitors management gadgets, “and eventual suspension from Autosteer use if the driving force repeatedly fails to display steady and sustained driving duty,” the paperwork say.

Recall paperwork say that company investigators met with Tesla beginning in October to clarify “tentative conclusions” in regards to the fixing the monitoring system. Tesla, it mentioned, didn’t concur with the company’s evaluation however agreed to the recall on Dec. 5 in an effort to resolve the investigation.

Auto security advocates for years have been calling for stronger regulation of the driving force monitoring system, which primarily detects whether or not a driver’s fingers are on the steering wheel. They’ve known as for cameras to verify a driver is paying consideration, that are utilized by different automakers with comparable programs.

Autopilot can steer, speed up and brake mechanically in its lane, however is a driver-assist system and can’t drive itself regardless of its identify. Unbiased assessments have discovered that the monitoring system is straightforward to idiot, a lot that drivers have been caught whereas driving drunk and even sitting within the again seat.

In its defect report filed with the protection company, Tesla mentioned Autopilot’s controls “is probably not adequate to stop driver misuse.”

A message was left early Wednesday looking for additional remark from the Austin, Texas, firm.

Tesla says on its web site that Autopilot and a extra refined Full Self Driving system can not drive autonomously and are supposed to assist drivers who need to be able to intervene always. Full Self Driving is being examined by Tesla homeowners on public roads.

In a press release posted Monday on X, previously Twitter, Tesla mentioned security is stronger when Autopilot is engaged.

NHTSA has dispatched investigators to 35 Tesla crashes since 2016 through which the company suspects the automobiles have been operating on an automatic system. A minimum of 17 individuals have been killed.

The investigations are half of a bigger probe by the NHTSA into a number of cases of Teslas utilizing Autopilot crashing into parked emergency automobiles which are tending to different crashes. NHTSA has turn into extra aggressive in pursuing security issues with Teslas previously 12 months, saying a number of recollects and investigations, together with a recall of Full Self Driving software program.

In Could, Transportation Secretary Pete Buttigieg, whose division contains NHTSA, mentioned Tesla shouldn’t be calling the system Autopilot as a result of it might probably’t drive itself.

In its assertion Wednesday, NHTSA mentioned the Tesla investigation stays open “as we monitor the efficacy of Tesla’s cures and proceed to work with the automaker to make sure the very best stage of security.”