This is the best summary I could come up with:

Way back in 2015, Tesla CEO Elon Musk would frequently give his engineers an earful after his car company’s infamous Autopilot driver assistance tech nearly got him killed during test drives on multiple occasions — though there’s a chance its dangerous behavior may have been due to Musk’s stubbornness on how the technology should be built.

Per its chapter on the launch of the driver assistance tech, Musk would learn firsthand that a curve on Interstate 405 caused Autopilot, thrown off by the road’s faded lane lines, to steer into and “almost hit” oncoming traffic.

But if Musk wanted safer software, he perhaps should’ve listened to his engineers, who have frequently petitioned over the years to incorporate what’s known as light detection and ranging technology, or LiDAR.

LiDAR is essentially radar that uses light instead of sound, and Tesla’s competitors, including Google’s Waymo, have long leveraged it to help their autonomous cars “see.”

Musk, however, has insisted that Tesla’s cars only use optical sensors, likening it to how humans primarily use their eyes to drive, according to the biography, and as such, he’s been tepid on using plain old radar, too.

"We told Elon that it was best safety-wise to use it … but it was clear that he thought we should eventually be able to rely on camera vision only, "one young engineer who joined in 2014 recalled, as quoted in the biography.

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