Tesla has won its battle in court over a fatal Autopilot crash that killed a California driver four years ago.

A jury in Riverside, California sided with Tesla in a lawsuit which blamed Tesla’s Autopilot for the fatality. Passengers who had survived the accident were suing for $400 million for the death of the driver, as well as physical injury and mental anguish, Bloomberg reported this week.

It took the jury four days of deliberation to come to its decision.