The federal investigation into the fatal accident involving a Tesla Model S in Autopilot mode has ended, with no vehicle recalls being ordered. The National Highway Traffic Safety Administration, which had been investigating the crash for over six months, released a report largely exonerating Tesla and its Autopilot system’s involvement in the crash.

The report also revealed that Tesla’s crash rate dropped by 40 percent after Autopilot was installed, that the driver in the crash would have had seven seconds to see the truck and take some sort of action, and that Tesla considered the possibility that drivers would misuse Autopilot and attempted to prevent that from happening.

Joshua Brown, 40, was killed in central Florida on May 7th,…

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