I've just finished reading a biography of Elon Musk which to a large extent is also a biography of Tesla. There were two road fatal incidents with Tesla vehicles where the vehicle failed to recognize trucks crossing in front of the oncoming Tesla which then drove under the trucks shearing off the upper section of the cars. As explained in the book, doppler radar was used to identify movement in front of the Tesla. Evidently, doppler shifts are not good at detecting movement across the direction of travel so the trucks were never "seen" by the radar. The book did not say whether this system has been corrected. What was clear is that billions of dollars are at stake and Tesla is running out of time and money, as usual.