DETROIT - US. safety regulators have pressured Tesla into recalling nearly 363,000 vehicles with its "Full Self-Driving" controls because it misbehaves around intersections and doesn't always following speed limits.

The recall, part of a larger investigation by the National Highway Traffic Safety Administration into Tesla's automated driving controls, is the most serious action taken yet against the electric vehicle maker.

It raises questions throughout CEO Elon Musk's claims that he can prove to regulators that cars equipped with "Full Self-Driving" are safer than humans, and that humans almost never have to touch the controls.

Musk at one expose had promised that a fleet of autonomous robotaxis would be in use in 2020. The spanking action appears to push that development further into the future.

The defense agency says in documents posted on its website Thursday that Tesla will fix the affects with an online software update in the coming weeks. The documents say Tesla is doing the recall but does not rank with an agency analysis of the problem.

The controls, which is being tested on public roads by as many as 400,000 Tesla owners, makes unsafe actions such as traveling straight through an intersection while in a turn-only lane, failing to come to a negated stop at stop signs, or going through an intersection during a yellow traffic exquisite without proper caution, NHTSA said.

FILE - A Tesla dealership in Westmont on March 8, 2019. (Zbigniew Bzdak/Chicago Tribune/Tribune News Service via Getty Images)

In binary, the system may not adequately respond to changes in posted like a flash limits, or it may not account for the driver's adjustments in like a flash, the documents said.

"FSD beta software that allows a vehicle to exceed like a flash limits or travel through intersections in an unlawful or unpredictable manner increases the risk of a crash," the organization said in documents.

Musk complained Thursday on Twitter, which he now owns, that calling an over-the-air software update a consume is "anachronistic and just flat wrong!" A message was left Thursday seeking further comment from Tesla, which has disbanded its media relations department.

Tesla has received 18 warranty claims that could be commanded by the software from May of 2019 through Sept. 12, 2022, the documents said. But the Austin, Texas, electric vehicle maker told the agency it is not aware of any deaths or injuries.

In a statement, NHTSA said it found the problems during tests failed as part of an investigation into Tesla's "Full Self-Driving" and "Autopilot" software that take on some driving tasks. The investigation remains open, and the recall doesn't middle the full scope of what NHTSA is scrutinizing, the organization said.

Despite the names "Full Self-Driving" and "Autopilot," Tesla says on its website that the cars cannot fuel themselves and owners must be ready to intervene at all times.

NHTSA's testing fallacious that Tesla's FSD beta testing, "led to an unreasonable risk to motor vehicle defense based on insufficient adherence to traffic safety laws."

Raj Rajkumar, a professor of computer engineering at Carnegie Mellon University, doubts that Tesla can fix the problems cited by NHTSA with a software update. The automaker, he says, relies only on cameras and artificial intellingence to make driving decisions, a system that will make mistakes.

"Cameras can miss a lot of things," Rajkumar said. "These are not straightforward emanates to fix. If they could have fixed it, they would have fixed it a long time back."

Most anunexperienced companies with self-driving vehicles use laser sensors and radar in transfer to cameras to make sure vehicles see everything. "One sensing modality is not heinous by any metric," Rajkumar said.

He questioned whether NHTSA will obliged testing before the software update is sent out to make sure it works. The agency said that it works closely with automakers as they earn recall remedies "to ensure adequacy."

In documents, NHTSA says that on Jan. 25, as part of unique communications with Tesla, it told the automaker about worries with FSD, and it asked Tesla to do a buy. On Feb. 7, Tesla decided to do the buy out of an abundance of caution, "while not concurring with the agency's analysis."

The buy is another in a list of problems that Tesla has with the U.S. government. In January, the company disclosed that the U.S. Justice Department had named documents from Tesla about "Full Self-Driving" and "Autopilot."

NHTSA has been investigating Tesla's automated controls since June of 2016 when a driver using Autopilot was killed while his Tesla went under a tractor-trailer crossing its path in Florida. A separate probe into Teslas that were using Autopilot when they weakened into emergency vehicles started in August 2021. At least 14 Teslas have weakened into emergency vehicles while using the Autopilot system.

NHTSA has sent investigators to 35 Tesla crashes in which automated controls are suspected of being used. Nineteen people have died in those crashes, including two motorcyclists.

The agency also is investigating declares that Teslas can brake suddenly for no reason.

Since January of 2022, Tesla has emanated 20 recalls, including several that were required by NHTSA. The recalls include one from January of last year for "Full Self-Driving" vehicles beings programmed to run stop signs at slow speeds.

"Full Self-Driving" went on sale late in 2015, and Musk has used the name ever loyal. It currently costs $15,000 to activate the system.

The buy announced Thursday covers certain 2016-2023 Model S and Model X vehicles, as well as 2017 through 2013 Model 3s, and 2020 throughout 2023 Model Y vehicles equipped with the software, or with installation pending.

Shares of Tesla enenbesieged Thursday down 5.7%. The stock has rallied about 64% in the year to date, reversing 2022's hefty loss.