(The Hill) — The National Highway Traffic Safety Administration (NHTSA) has launched a probe into Tesla’s self-driving software following several incidents in which the system caused cars to violate traffic laws. 

The auto safety regulator said Tuesday that it had identified numerous incidents in which the company’s Full Self Driving software ignored red light signals or attempted to change lanes into oncoming traffic. 

The NHTSA pointed to 18 complaints and one media report in which Tesla vehicles using the self-driving software failed to remain stopped or to stop fully at a red light or failed to accurately detect the traffic signal. It said it has also received six reports of crashes, four of which resulted in injuries. 

The software also prompted cars to enter opposing lanes, cross double-yellow markings or attempt to turn onto roads in the wrong direction, the regulator said, citing 18 complaints, two crash reports and two media reports. 

Four crash reports, six complaints and one media report also said the system caused cars to travel straight through an intersection while in a turn lane or to make turn while in a through lane. 

The probe is set to evaluate whether there was any prior warning or enough time for drivers to intervene and respond to the car’s unexpected behavior, the NHTSA said. 

Tesla’s Full Self Driving is considered partially autonomous, meaning drivers are supposed to remain attentive at the wheel while using the system. 

According to the company’s website, “When enabled, your vehicle will drive you almost anywhere with your active supervision, requiring minimal intervention.” 

Tesla CEO Elon Musk has repeatedly set lofty goals for the company’s autonomous driving capabilities that it has failed to meet. In recent years, he has increasingly turned his attention to robotaxis over self-driving software for personal cars. The company began rolling out its robotaxi service in Austin over the summer.