Tesla is updating its self-driving software in response to US safety officials' concerns that it might permit drivers to go over the posted speed limit or cross intersections dangerously.
According to documents submitted to the US government, the recall affects close to 363,000 vehicles in the US.
Tesla claimed that it was not aware of any accidents or fatalities connected to the problems.
The company's autopilot system has been under investigation by US authorities.
According to the recall notice, representatives from the National Highway Traffic Safety Administration (NHTSA) met with Tesla in January to express their concerns regarding the "full self-driving beta" software.
The NHTSA claimed that the system permitted actions that might "infringe" on regional laws or customs, such as running a red light, cutting through an intersection from a turn-only lane, or failing to stop completely at a stop sign.
According to the statement, "FSD Beta software that permits a vehicle to exceed posted speed limits or proceed through intersections in an illegal or unpredictable manner increases the risk of a crash.".
According to the filing, Tesla stated that it disagreed with the agency's findings but chose to issue a recall "out of an abundance of caution.".
Owners are currently being informed. It's free to update the software.
Elon Musk, the company's CEO, did not directly address the choice but stated in a tweet on Thursday that the term "recall" for an over-the-air software update was "anachronistic and just flat wrong.".
The company's full self-driving beta system, the most advanced level of its autopilot technology, is subject to its second recall. .
It is available to drivers in North America for $15,000 (£12,500), and in addition to features like cruise control and steering, it enables the car to react to traffic lights and stop signs.
Because the system allowed the cars to roll through stop signs, Tesla had to recall close to 54,000 cars the previous year. .
Tesla model S and X vehicles with the full self-driving beta software installed or pending are affected by the most recent recall. Model 3 and model Y vehicles with the system are also impacted.
Tesla reported that it was aware of 18 warranty claims made in connection with the problem.
According to Tesla and the NHTSA, the automaker's cutting-edge driving technologies do not make the vehicles autonomous and still require drivers to pay attention.