DETROIT (AP) — The company that made software that controls Tesla Motors’ Autopilot system says it warned the automaker not to allow drivers to take their hands off the steering wheel while using the system but was ignored.

Mobileye of Israel made the statement Friday, escalating a spat between the companies that surfaced after a May crash in Florida that killed a driver who was using Autopilot.

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Mobileye says its chairman warned Tesla CEO Elon Musk in May of 2015 against hands-free use of Autopilot, and was assured the system would be “hands-on.” But the product Tesla released allowed drivers to take their hands off the wheel for minutes at a time.

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Tesla says Mobileye’s account is inaccurate.

Government investigators are looking into Autopilot’s role in the Florida crash.

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