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Tesla is being forced to fix more than 50,000 cars in the US over a controversial software feature that saw the vehicles fail to stop at some junctions.

When using the company’s so-called “full self-driving” mode, which is a driver assistance feature that requires motorists to pay attention to the road, some models rolled through junctions that require all cars to stop.

The fix, which the company will carry out by a remote software update, was agreed by Tesla after meetings with the National Highway Traffic Safety Administration, the US road safety regulator, according to documents posted on the regulator’s website.

The fix affects all of Tesla’s four models — the S, 3, X and Y — for customers using the full self-driving mode, which is still officially in a beta testing phase.

The “rolling stop” feature was controversial when first introduced by Tesla into the software package because it tries to emulate driving behaviour that is common in some places but illegal in many US states.

Rather than stopping at a “stop” junction, vehicles merely slow to a crawl, allowing the driver to see if the way is clear, before accelerating again.

Safety campaigners said rolling stops lead to more collisions, both with other vehicles and with pedestrians or cyclists.

Tesla drivers using the FSD package are able to select whether they want to be “chill”, “average” or “assertive”, to set the driving behaviour. An on-board computer warned that the car may perform “rolling stops” when using “average” or “assertive” settings.

Tesla has not yet commented on the fix today.

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