Tesla has issued a recall of its Full Self-Driving software, an advanced driver assistance system that federal safety regulators say could allow a vehicle to act unsafe around intersections and cause crashes.

The recall, which was posted on the National Highway Traffic Safety Administration’s website, affects as many as 362,758 vehicles equipped with the software, according to the notice. Tesla will release an over-the-air software update, free of charge, to fix the issue.

Tesla vehicles come standard with a driver assistance system branded as Autopilot. For an additional $15,000, owners can buy “full self-driving,” or FSD — a feature that CEO Elon Musk has promised for years will one day deliver full autonomous driving capabilities.

FSD, which has steadily increased in price and capability, has been available as an option for years. However, Tesla vehicles are not self-driving. FSD includes the parking feature Summon as well as Navigate on Autopilot, an active guidance system that navigates a car from a highway on-ramp to off-ramp, including interchanges and making lane changes. Once drivers enter a destination into the navigation system, they can enable “Navigate on Autopilot” for that trip.

“NHTSA will continue to monitor the recall remedies for effectiveness,” the agency said. “This recall seeks to address a specific set of concerns identified by the agency.”

The agency added that it does not address the full scope of NHTSA’s EA22-002 investigation into Tesla’s Autopilot and associated vehicle systems. That investigation remains open and active.