The family of Walter Huang, an Apple engineer who died after his Tesla Model X with Autopilot engaged crashed into a highway median, is suing Tesla. The State of California Department of Transportation is also named in the lawsuit.

The wrongful death lawsuit, filed in in California Superior Court, County of Santa Clara, alleges that errors by Tesla’s Autopilot driver assistance system caused the crash that killed Huang on March 23, 2018. Huang, who was 38, died when his 2017 Tesla Model X hit a highway barrier on Highway 101 in Mountain View, California.

The lawsuit alleges that Tesla’s Autopilot driver assistance system misread lane lines, failed to detect the concrete media, failed to brake and instead accelerated into the median.

A Tesla spokesperson declined

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