Tesla will update its cars' Autopilot function with new safety features designed to prevent collisions, the company has announced.

Chief executive Elon Musk told reporters on Sunday that his cars would soon make greater use of the on-board radar to detect obstacles ahead.

The car will also do more to make sure drivers are paying attention while in self-driving mode.

A Tesla driver died earlier this year when the technology missed a lorry.

As part of the update to self-driving mode, if repeated warnings to hold the steering wheel are ignored, the vehicle will need to be parked before the autonomous functions can be re-engaged.

When drivers activate Autopilot, the car takes control - keeping pace with traffic and even changing lanes. The 200-plus additions to the software come as it is being investigated by the US road safety regulator.

A Tesla driver was killed in May when the car he was driving hit a lorry that had been turning left - Autopilot was unable to spot the white trailer against the bright sky.

No date has been announced for the conclusion of the investigation, the US National Highway Traffic Safety Administration told the BBC.

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