WASHINGTON (AP) — Design limitations of the Tesla Model S's Autopilot played a major role in the first known fatal crash of a highway vehicle operating under automated control systems, the National Transportation Safety Board said Tuesday.

The board said the direct cause of the crash was an inattentive Tesla driver's over reliance on technology and a truck driver who made a left-hand turn in front of the car. But the board also recommended that automakers incorporate safeguards that keep drivers' attention engaged and that limit the use of automated systems to the conditions for which they wer...