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Tesla is recalling all 363,000 US vehicles with its so-called “Full Self Driving” driver assist software due to safety risks, another blow to the feature that is central to the automaker’s business model.

“Full self-driving,” as it currently stands, navigates local roads with steering, braking and acceleration, but requires a human driver prepared to take control at any moment, as the system makes judgment errors. The National Highway Traffic Safety Administration said that, based on its analysis, Tesla’s FSD feature “led to an unreasonable risk to motor vehicle safety based on insufficient adherence to traffic safety laws.” And it warned FSD could violate traffic laws at some intersections “before some drivers may intervene.”

“The FSD Beta system may allow the vehicle to act unsafe around intersections, such as traveling straight through an intersection while in a turn-only lane, entering a stop sign-controlled intersection without coming to a complete stop, or proceeding into an intersection during a steady yellow traffic signal without due caution,” said the recall notice, posted on NHTSA’s website.

Tesla will attempt to fix the the FSD feature, which costs $15,000, through an over-the-air software update, the notice added.

While Tesla CEO Elon Musk has not yet commented on the nature or scope of the problem, he tweeted that “the word “recall” for an over-the-air software update is anachronistic and just flat wrong!”

But NHTSA said in a statement that “manufacturers must initiate a recall for any repair, including a software update, that remedies an unreasonable risk to safety.” The federal agency said it will continue to monitor the recall remedies for effectiveness.

The notice said that the problems are present with all cars with the current version of the FSD software, which is available on all four Tesla models, the Model S, Model X, Model 3 and Model Y.

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