The National Transportation Safety Board (NTSB) said on Tuesday that it has sent two investigators to probe the crash and determine who was at fault. They will likely arrive Wednesday.
The limits on the system include factors such as Tesla being unable to ensure driver attention even when the auto is travelling at high speeds, ensuring Autopilot is used only on certain roads and monitoring driver engagement, NTSB said in September.
"Amazingly there were no injuries!" the union tweeted.
Tesla said in a statement that Autopilot is "intended for use only with a fully attentive driver". The vehicle struck the firetruck around 8:30am Monday on Interstate 450 in Culver City, California.
Tesla Autopilot is an increasingly capable suite of safety and convenience features that since September 2014 has come standard in all Tesla vehicles. It released a 500-page report a year ago that revealed former Navy SEAL Joshua Brown, 40, kept his hands off the wheel of his Tesla for extended periods of time despite warnings from the automated system.
The firetruck was parked in an emergency lane at the side of the highway attending to another accident at the time of the morning collision, according to the Mercury News.
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NTSB Gathers Info on Tesla Autopilot Crash with Fireplace Engine
Despite the warnings, Tesla has been accused in the past of making Autopilot seem like a safer feature than it actually is. Tesla is clear that drivers using autopilot should remain alert and retain responsibility for their vehicle.
Tesla did release an update to its self-driving mode recently that made the vehicle stop itself if it detected that the driver's hands were not on the wheel while the vehicle was moving.
Tesla shares slipped 2% in Wednesday´s trading session amid reports that investigators were probing a crash on a Californian motorway that could be linked to its self-driving technology.
One of NTSB's key findings in the 2016 accident was that the Tesla automation system wasn't created to detect a truck crossing in front of it.
The National Highway Traffic Safety Administration conducted separate tests of the Tesla automation after the accident, finding that it "avoided crashes for the majority of rear-end scenarios", NTSB said in its report. The NTSB re-issued previous recommendations that the government require all new cars and trucks to be equipped with technology that wirelessly transmits the vehicles' location, speed, heading and other information to other vehicles in order to prevent collisions.
The Tesla suffered significant damage, and the fire truck has been taken out of service to have body work done, Powell said. The system monitors whether a driver is paying attention using a small camera on the top of the steering wheel column to track head position.