EN Always Lateral

Always Lateral

Menu: Driving > Start & Auto > Engage

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Always Lateral

AlwaysLateral

Allow lateral control even when cruise is not active. Steering waits for initial input readiness after system startup. Once passed, this check does not block again; existing runtime safety handling remains unchanged. Tesla can steer at true standstill; minimum steering-speed limits still apply while moving. 0: OFF, 1: ON

• Type: Toggle
• Default: 0
• Range: 0 ~ 1
• Menu: Driving > Start & Auto > Engage

Behavior

• On: When lateral control is enabled in a forward-driving gear, steering can continue while cruise is off or after braking disengages cruise while driving.
• Off: Steering is available only while driving control is active.

This setting separates the steering and cruise activation states; it does not affect acceleration or braking. On supported Tesla vehicles, steering can remain available at true standstill in a forward-driving gear when lateral control is already enabled. Minimum steering-speed limits still apply while moving; steering faults and a disabled lateral state still prevent steering.

After system startup, steering waits for the first confirmation of valid model, vehicle-parameter, pose, and other required inputs. Once passed, this startup check ends; later input interruptions or disengagement/reengagement do not rearm it. Existing runtime safety handling remains unchanged. Expiry of the startup waiting period alone does not pass this check.

Usage

To start with steering available while keeping cruise manual, use AutoEngage=1, AlwaysLateral=1, and AutoCruiseControl=0. On the next drive, check steering once with cruise off and once while pressing the brake during motion.

Reference

Important

This setting does not turn lateral control on by itself. Lateral control must first be enabled by AutoEngage or the applicable vehicle button.

Steering can stop below the vehicle-specific minimum steering speed even before the vehicle fully stops. It also remains off during steering faults, in a non-driving gear, or after a vehicle-button or cancel-button setting turns lateral control off.