The complaint accused Tesla and Musk of having since 2016 deceptively advertised the technology as fully functioning or "just around the corner" despite knowing that the technology did not work or was nonexistent, and made vehicles unsafe.
Briggs Matsko, the named plaintiff, said Tesla did this to "generate excitement" about its vehicles, attract investments, boost sales, avoid bankruptcy, drive up its stock price and become a "dominant player" in electric vehicles.
"Tesla has yet to produce anything even remotely approaching a fully self-driving car," Matsko said.
The lawsuit filed in federal court in San Francisco seeks unspecified damages for people who since 2016 bought or leased Tesla vehicles with Autopilot, Enhanced Autopilot and Full Self-Driving features.
Tesla did not immediately respond to requests for comment. It disbanded its media relations department in 2020.