Many have speculated that Tesla could have prevented the Autopilot-related Florida crash if its cars had lidar (visible light detection and ranging) to better understand the world around them, not just cameras and radar. However, Tesla might have a way to improve its semi-autonomous driving without grafting on new equipment. Elon Musk explains that his company hopes to adapt its existing radar systems to produce a lidar-like map of the surrounding environment with the help of "temporal smoothing" that compares object positions over time. The current hardware should produce a high-enough resolution for this to work, he adds. And unlike lidar, it can see through dust, rain and snow.