Tesla recalls nearly 54,000 SUVs and cars because of their Full Self-Driving software, which allows them to roll through stop signs without coming halt.

U.S. safety regulators have posted documents Tuesday stating that Tesla will disable this feature with an over the-internet software upgrade. “Rolling stop” allows vehicles to pass intersections marked with all-way stop signs at speeds of up to 5.6 miles an hour.

According to documents, Tesla agreed to recall the vehicle after meeting with officials from National Highway Traffic Safety Administration. According to documents, NHTSA stated that failure to stop for a sign could increase the chance of a collision. Tesla stated that the feature has not been linked to any injuries or crashes.

Due to chip shortages, Tesla will not release new models in 2022.

The recall applies to Model S sedans, X SUVs, and 2017 through 2022 Model 3 sedans as well as 2020 through 2022 Model Y UTVs.

Tesla drivers have been “beta-testing” the “Full Self-Driving Software” on public roads. Tesla claims that the cars can’t drive themselves, and drivers need to be ready to act at all times.

In February, a firmware release that disables rolling stops will be sent.

Tesla’s media relations department was not available for comment on Tuesday morning.

Safety advocates claim that Tesla shouldn’t be allowed to test its vehicles in traffic with untrained drivers. They also complain that Tesla software can fail, which could put pedestrians and other motorists at risk. Similar software is used by most other auto manufacturers. They use trained safety drivers.

In a software update sent to testers on October 20, Tesla introduced the “rolling-stop” feature. According to the documents, NHTSA met Tesla on Jan. 10, and 19, to discuss the software’s operation. The company reached an agreement with NHTSA on Jan. 20 to remove the rolling stops from the software update.

Notification letters will be sent to owners on March 28.

“Rolling stop” feature

As long as the owner activated the “rolling stop” function, the Teslas could go through all-way stops. When approaching the intersection, vehicles must travel at least 5.6 mph and there cannot be any pedestrians, bicyclists, or moving cars nearby. According to documents, all roads leading to the intersection must have speeds of at least 30 mph. The Teslas could then travel through the intersection at speeds of 0.1 to 5.6 mph, without having to stop.

Alain Kornhauser of Princeton University is the faculty chair for autonomous vehicle engineering. He said that the recall shows how NHTSA is performing its duties as road safety watchdog. He said that the recall shows that they can be efficient even though Tesla should have been more responsible.

NHTSA stated that it was investigating a Tesla driver’s complaint about the “Full Self-Driving” software causing a crash in November. According to the driver, the Model Y drove into another vehicle’s lane and hit it. According to the complaint, the SUV alerted the driver halfway through the turn and the driver attempted to turn the steering wheel to avoid traffic. The driver said that the car took control of the vehicle and “forced itself into an incorrect lane.” According to the complaint, no one was injured in the Nov. 3, crash in Brea (California).

After NHTSA opened an investigation, Tesla agreed in December to upgrade its “Autopilot” driver assistance system. NHTSA opened an investigation and found that Tesla had sold 765,000 vehicles in the United States since the beginning of the 2014 model year. The agency reported that it had found 11 instances in which Teslas with Autopilot or Traffic Aware Cruise Control crashed into emergency vehicles parked along roadsides. The NHTSA identified 17 injuries and one death in the crash investigation.

Safety regulators also examined 580,000 Tesla cars equipped with “Passenger play” technology. Safety officials stated that Passenger Play is only supposed to be activated when the Tesla car is in park. According to a December document, the NHTSA stated that it received complaints from Passenger Play being activated while someone was driving. This could increase the chance of an accident.

The company has agreed to no longer allow video games to play on its center touch screens while its vehicles move.