Newer Tesla Motors Model S sedans will be able to steer and park themselves under certain conditions starting on Thursday, the carmaker said, although CEO Elon Musk cautioned that drivers should keep holding the steering wheel.

New "autopilot" features, designed for cars built after September 2014, will be available for customers in the United States, Tesla said. European and Asian owners must wait another week. Tesla will provide the features through an over-the-air upgrade.

Musk cautioned that autopilot functionality was in beta mode and full "hands-off" driving was not recommended.