The NHTSA launched an investigation into Tesla’s autonomous Full Self-Driving software in 2021. Today, it’s announcing a recall of 362,758 Tesla vehicles because “the FSD Beta system may allow the vehicle to act unsafe.” Here’s exactly what the NHTSA has a problem with, what Tesla’s already done about it, and how the automaker plans to address the recall.

Full Self-Driving is one of the most polarizing autonomous driving systems on the market. It has its supporters and its detractors but today’s recall certainly calls into question the system’s safety. The NHTSA has four main issues with the way that FSD operates. Importantly, all have to do with the way that it navigates intersections.

First, it travels or turns through certain intersections during a stale yellow traffic light. Secondly, the NHTSA calls out the “perceived duration of the vehicle’s static position at certain intersections with a stop sign, particularly when the intersection is clear of any other road users.”

More: Tesla Autopilot Investigation Is “Moving As Quickly As We Can”, Says NHTSA’s Acting Head

Third on the list is how FSD adjusts vehicle speed in variable speed zones and fourth is how it will sometimes continue traveling straight when in a ‘Turn Only’ lane. All of these issues are relatively well-known in the Tesla community. In addition, all “could potentially infringe upon local traffic laws or customs” says the NHTSA. At the same time, it says that the circumstances in which these errors take place are “specific and rare.”

It requested that Tesla perform a recall back on January 25th of this year. Despite not concurring with the agency’s analysis, Tesla issued a voluntary recall back on February 7th. As of the 14th of this month, it’s identified 18 warranty claims surrounding the conditions mentioned above.

All vehicles in the recall will get a software update to remedy the problem. Included in the 362,758 cars are all Tesla Models, the S,3,X, and Y from as early as 2016 through 2023. The automaker is unaware of any injuries or deaths related to the conditions that spurred the recall.