Tesla Y Owner's Manual page 107

Type of Traffic Light
Autopilot
Traffic Light and Stop Sign Control
Vehicle Intended Response
Model Y slows down. To proceed, you must press down on the drive stalk or briefly
press the accelerator pedal. If you don't, Model Y stops at the red stop line
displayed on the touchscreen.
NOTE: To prevent Model Y from stopping, and to minimize how much it slows
down as it approaches, you can confirm that you want to proceed by pressing
down on the drive stalk or briefly pressing the accelerator pedal at any time after
the touchscreen displays the red stop line. Model Y resumes your set cruising
speed immediately after you confirm (taking into consideration the speed of a
vehicle in front of you).
WARNING: Approach attentively and be prepared to press the brake pedal to
slow down or stop.
Model Y slows down and comes to a complete stop at the red stop line displayed
on the touchscreen. When you want to proceed through the intersection (for
example, traffic laws and conditions indicate it is safe and legal to proceed), you
must press down on the drive stalk or briefly press the accelerator pedal.
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