You should not mix up the current "autopilot" with the software used in the "full self driving" software package. The traditional autopilot used mostly radar, which is known to not work well with non-moving obstactles. As radar has not much spatial resolution, it relies on the doppler effect to separate moving obstacles (slower cars) from the background, which could be anything, from a stopped car to trees or bridges at the road side.
The FSD software package so far has been rolled out as a beta only, to a few selected users. It is based on vision entriely and aims to properly identify everything on the road. The solid obstacles have all been hit by the previous auto pilot version. In the new cars currently sold, the radar has been replaced by a pure vision implementation close to the FSD software, so it remains to be seen which level of safety can be achieved with that.
The FSD software package so far has been rolled out as a beta only, to a few selected users. It is based on vision entriely and aims to properly identify everything on the road. The solid obstacles have all been hit by the previous auto pilot version. In the new cars currently sold, the radar has been replaced by a pure vision implementation close to the FSD software, so it remains to be seen which level of safety can be achieved with that.