onepilot/docs/INTEGRATION.md

Integration with Stock Features

In all supported cars:

• Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
• Stock LDW is replaced by openpilot LDW.

Additionally, on specific supported cars (see ACC column in supported cars):

• Stock ACC is replaced by openpilot ACC.
• openpilot FCW operates in addition to stock FCW.

openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.