The recall came after U.S. safety regulators expressed concerns about the way Tesla's system responds in four areas along roads.
The National Highway Traffic Safety Administration says in documents posted Thursday on its website that Tesla will fix the concerns with an online software update in the coming weeks.
The system, which is being tested on public roads by as many as 400,000 Tesla owners, makes unsafe actions such as traveling 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.
"FSD beta software that allows a vehicle to exceed speed limits or travel through intersections in an unlawful or unpredictable manner increases the risk of a crash," the agency said in documents.
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