The National Transportation Safety Board (NTSB) today released a preliminary report that details the circumstances of the fatal accident involving a Tesla Model S driving with its Autopilot engaged.

The accident, which took place May 7 in Williston, Fla., was the first known fatal crash involving a vehicle using an advanced driver assistance system (ADAS) based on computer software, sensors, cameras and radar. The all-electric Tesla hit the side of an 18-wheeler that turned left in front of it. The impact sheared away the roof of the Model S and killed Joshua Brown, 40, of Canton, Ohio.

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