US safety regulators have pressured Tesla into recalling nearly 363,000 vehicles with its “Full Self-Driving” system because it misbehaves around intersections and does not always follow speed limits.

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

It raises questions about 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 point had promised that a fleet of autonomous robotaxis would be in use in 2020. The latest action appears to push that development further into the future.

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

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

In addition, the system may not adequately respond to changes in posted speed limits, or it may not account for the driver’s adjustments in speed, the documents said.

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

The recall is another in a long list of problems that Tesla has with the US government. In January, the company disclosed that the US Justice Department had requested documents from Tesla about “Full Self-Driving” and “Autopilot”.

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

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