Tesla is recalling nearly 363,000 vehicles with its “Full Self-Driving” system to fix problems with the way it behaves around intersections and following posted speed limits.

The recall, part of a larger investigation by U.S. safety regulators into Tesla’s automated driving systems, came after 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 that Tesla will fix the concerns with an online software update in the coming weeks.

The documents say Tesla is doing the recall but does not agree with an agency analysis of the problem.

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.

In addition, the system may not adequately respond to changes in posted speed limits, or it may not account for the driver’s adjustments in speed, the documents 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.