The recall applies to all Tesla sold in the US since the Autopilot feature was launched in 2015.
Most importantly, the recall centres on a part of Autopilot called Autosteer.
However, Tesla defended the safety of Autopilot in a post on Twitter in response to a Washington Post article
According to the recall notice, Tesla plans to add new features to resolve the concerns, including additional checks on turning on the self-driving features.
Analysts predicts that Tesla's most advanced Autopilot offering, full self driving, could end up generating over $50bn a year in revenue by 2030, up from $1bn-$3bn.