After testing on public roads, Tesla is rolling out a new feature of its partially automated driving system designed to spot stop signs and traffic signals.

The update of the electric car company’s cruise control and auto-steer systems is a step toward CEO Elon Musk’s pledge to convert cars to fully self-driving vehicles later this year.

But it also runs contrary to recommendations from the U.S. National Transportation Safety Board that include limiting where Tesla’s Autopilot driving system can operate because it has failed to spot and react to hazards in at least three fatal crashes.