The NHTSA is investigating how Tesla's Autopilot system interacts with emergency vehicles that are parked on highways.
With driverless vehicles already on the road, ethical parameters for their testing and development are still being figured out.
The electric vehicle company says on its website its autopilot features "require active driver supervision and do not make the vehicle autonomous."
Authorities said a 22-year-old man from the city of Lansing was issued citations for failure to move over and driving with a suspended license.
Tesla's Autopilot system relies on vision rather than LIDAR, which means it can be tricked by messages on billboards and projections created by hackers.
Documents filed in a San Jose federal court Tuesday described the case of Yoshihiro Umeda, the 44-year-old victim, as being the first "autopilot-related death involving a pedestrian."
A witness who recorded the video said he called 911 after spotting the driver. Tesla has stressed autopilot is not fully autonomous, describing it as a "driver assistance system."
"We were going about 75 mph on the highway, and he was just totally out," the man who recorded the video has claimed.
Tesla confirmed Friday that its Model X car was on autopilot when it crashed into a highway median in Mountain View, California last week, immediately killing its driver.
"We have never seen this level of damage to a Model X in any other crash," Tesla said.
Despite the Grammy-nominated producer's claims, the court says there is a different reason his ticket was dismissed.
The self-driving Tesla Model S was travelling at 65 mph when it crashed on a California freeway.
Joshua Brown was killed when his Tesla Model S collided with a truck while it was in the "Autopilot" mode.
Safety concerns and test drive accidents are pushing back the date of launch by decades.
Autopilot will make 'more effective use of radar' to issue warnings to drivers after May traffic death in Florida.
Elon Musk's latest masterplan includes electric bus fleets and self-driving taxis.
Tesla's CEO claims semi-autonomous mode on electric carmaker's vehicles halve the probability of an accident.
New "autopilot" features, designed for cars built after September 2014, will be available for customers in the United States.
The Automatic Ground Collision Avoidance System reportedly saved an F16 flying over Syria.