Tesla reached a settlement on the eve of its highest-profile trial yet over a crash blamed on Autopilot, the driver-assistance system Elon Musk has billed as crucial to his pursuit of self-driving cars, according to court filings.

Terms of the settlement weren¡¯t disclosed in filings made public Monday in state court in San Jose, California.

The trial that was set to kick off this week centered on Walter Huang, a 38-year-old Apple engineer who was killed on the way to work in 2018 when his Model X veered off the highway and slammed into a roadside barrier at about 71 miles (114 kilometers) per hour. A federal safety agency¡¯s investigation of the accident found that Huang was probably distracted with a video game app on his phone, while also pointing to ¡°limitations¡± of the Autopilot system.