Tesla announced a range of self-driving features coming to the Model S in the summer. Legislators in the U.S. and abroad, however, aren't too keen on letting these features be added without some changes as to how drivers use them.

The biggest changes include automatic lane turning, speed reduction and stopping. Even though it's not full self-driving and won't work in urban environments, it's a critical step towards recognizing a fully autonomous vehicle.

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Legislators in California -- where self-driving cars are currently legalized for testing -- are looking into changing the rules to make sure Tesla can't bring these autonomous features to Model S owners.

Tesla argues all of the features comply with the current laws in every country, claiming it's simply an advanced autopilot. Even though some seem to be fine with these new features, other state lawmakers want Tesla to understand the seriousness of the issues.

Insurers are also looking into the Model S features to see if there will be a higher rates or accidents. Over the next few years, most insurance firms claim prices will go down with the commercialization of self-driving, but several are unsure if Tesla's own autonomous features enhance safety.

It might end up coming to Tesla owners capable of getting a permit for testing self-driving, unless Tesla fancies aggravating every legislator in the U.S. It's not clear what these legislators will do to Model S owners using the autonomous features, but it might be a fine or ban from the road.

Tagstesla motors, Model S, autonomous vehicle, Self-Driving Car