After US safety officials expressed concerns that the self-driving software could allow drivers to go over the posted speed limit or cross intersections dangerously, Tesla is updating the system.
According to filings with the US government, the recall affects almost 363,000 vehicles in the US.
Tesla stated that it was not aware of any incidents involving injuries or fatalities.
The autopilot system of the company has been under investigation by US authorities.
The National Highway Traffic Safety Administration (NHTSA) representatives reportedly met with Tesla in January to express their concerns regarding the "full self-driving beta" software.
According to NHTSA, the system permitted actions like passing through a red light, going straight through an intersection from a turn-only lane, or not fully stopping at a stop sign that could "infringe" on regional laws or customs.
"FSD Beta software that permits a vehicle to exceed posted speed limits or navigate intersections in an illegal or unpredictable manner increases the risk of a crash," it stated.
Tesla stated in the filing that it disagreed with the agency's findings but decided to issue a recall "out of an abundance of caution.".
Notifying owners is currently underway. The software upgrade is without cost.
Boss Elon Musk didn't directly address the decision, but he said in a tweet on Thursday that using the word "recall" to describe an over-the-air software update is "anachronistic and just flat wrong.".
The company's full self-driving beta system, the most advanced level of the autopilot technology offered by the company, has been recalled twice. .
Drivers in North America can purchase it for $15,000 (£12,500), which enables the car to react to stop signs and traffic lights in addition to other features like cruise control and steering.
Due to the system allowing the cars to roll through stop signs, Tesla had to recall nearly 54,000 vehicles in 2017. .
The most recent recall concerns Tesla model S and X vehicles with fully self-driving beta software already installed or in the works. Model Ys with the system and Model 3 cars are also impacted.
18 warranty claims relating to the problem had been made, according to Tesla.
The advanced driving technologies employed by the automaker, according to Tesla and the NHTSA, do not render the vehicles autonomous and still require drivers to pay attention.
