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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/docs/SAFETY.md

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Safety

openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the driver to be alert and to pay attention at all times.

In order to enforce driver alertness, openpilot includes a driver monitoring feature that alerts the driver when distracted.

However, even with an attentive driver, we must make further efforts for the system to be safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be used safely and openpilot is provided with no warranty of fitness for any purpose.

openpilot is developed in good faith to be compliant with FMVSS requirements and to follow industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe ISO26262 guidelines, including those from pertinent documents released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, hardware-in-the-loop, and in-vehicle tests before each software release.

Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements.

  1. The driver must always be capable to immediately retake manual control of the vehicle, by stepping on the brake pedal or by pressing the cancel button.
  2. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits1.

For additional safety implementation details, refer to panda safety model. For vehicle specific implementation of the safety concept, refer to opendbc/safety/safety.

Forks of openpilot

  • Do not disable or nerf driver monitoring
  • Do not disable or nerf excessive actuation checks
  • If your fork modifies any of the code in opendbc/safety/:
    • your fork cannot use the openpilot trademark
    • your fork must preserve the full safety test suite and all tests must pass, including any new coverage required by the fork's changes

Failure to comply with these standards will get you and your users banned from comma.ai servers.

comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.

  1. For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. ↩︎