Note: 
As mentionned by Olivier Girardot, this answer is not optimized and the withColumn solution is the one to use (Azeroth2b answer)
Can not delete this answer as it has been accepted
Here is my take on this one:
 val rdd = sc.parallelize(
      List( (2012,"Tesla","S"), (1997,"Ford","E350"), (2015,"Chevy","Volt"))
  )
  val sqlContext = new SQLContext(sc)
  // this is used to implicitly convert an RDD to a DataFrame.
  import sqlContext.implicits._
  val dataframe = rdd.toDF()
  dataframe.foreach(println)
 dataframe.map(row => {
    val row1 = row.getAs[String](1)
    val make = if (row1.toLowerCase == "tesla") "S" else row1
    Row(row(0),make,row(2))
  }).collect().foreach(println)
//[2012,S,S]
//[1997,Ford,E350]
//[2015,Chevy,Volt]
You can actually use directly map on the DataFrame. 
So you basically check the column 1 for the String tesla.
If it's  tesla, use the value S for make else you the current value of column 1
Then build a tuple with all data from the row using the indexes (zero based) (Row(row(0),make,row(2))) in my example)
There is probably a better way to do it. I am not that familiar yet with the Spark umbrella