Under pressure from US safety officials, the “Full Self-Driving” system installed in nearly 363,000 Tesla vehicles was recalled due to poor performance near junctions and inconsistent adherence to speed limits. According to the Associated Press, the recall is the most significant action taken against the electric vehicle manufacturer to date.

It is part of the National Highway Traffic Safety Administration’s larger investigation into Tesla’s automated driving systems. It calls CEO Elon Musk’s claims that he can demonstrate to authorities that vehicles with “Full Self-Driving” technology are safer than people and that people rarely have to touch the steering wheel into question.

Musk once stated that a fleet of self-driving robotaxis would be operational by 2020. The most recent step appears to have further delayed such development.

Tesla will address the issues with an online software update in the coming weeks, according to documents posted on the company’s website on Thursday.

Despite disagreeing with an agency assessment of the problem, the records indicate that Tesla is carrying out the recall. Up to 400,000, Tesla owners are taking part in a public road test of the system.

According to the National Highway Traffic Safety Administration, the system flags unsafe actions such as driving straight through an intersection while in a turn-only lane, failing to stop completely at stop signs, and driving through an intersection during a yellow traffic light without taking proper precautions.

On Thursday, Musk said it is “anachronistic and just flat wrong” to refer to an over-the-air software update as a recall. He now has complete control over Twitter. On Thursday, a message was left asking Tesla, which has closed its media relations division, for comment.

According to the records, Tesla has 18 warranty claims between May 2019 and September 12, 2022, that may have been caused by the software. However, the Austin, Texas-based electric vehicle manufacturer informed the organization that no fatalities or injuries had occurred. Despite the terms “Full Self-Driving” and “Autopilot,” Tesla’s website states that owners must be prepared to take control of their vehicles at any time.