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HTML
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<p class="caption"><span class="caption-text">Getting Started</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../getting-started/what-is-openpilot/">What is openpilot?</a>
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<li class="toctree-l1"><a class="reference internal" href="../how-to/turn-the-speed-blue/">Turn the speed blue</a>
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<li class="toctree-l1"><a class="reference internal" href="../how-to/connect-to-comma/">Connect to a comma 3X</a>
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<li class="toctree-l1"><a class="reference internal" href="../concepts/safety/">Safety</a>
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<li class="toctree-l1"><a class="reference internal" href="../concepts/glossary/">Glossary</a>
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<li class="toctree-l1"><a class="reference internal" href="../car-porting/model-port/">Porting a car model</a>
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<li class="toctree-l1"><a class="" href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contributing Guide →</a>
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<h1 id="safety">Safety</h1>
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<p>openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
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Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
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driver to be alert and to pay attention at all times.</p>
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<p>In order to enforce driver alertness, openpilot includes a driver monitoring feature
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that alerts the driver when distracted.</p>
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<p>However, even with an attentive driver, we must make further efforts for the system to be
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safe. We repeat, <strong>driver alertness is necessary, but not sufficient, for openpilot to be
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used safely</strong> and openpilot is provided with no warranty of fitness for any purpose.</p>
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<p>openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
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industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
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ISO26262 guidelines, including those from <a href="https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf">pertinent documents</a>
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released by NHTSA. In addition, we impose strict coding guidelines (like <a href="https://www.misra.org.uk/what-is-misra/">MISRA C : 2012</a>)
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on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
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hardware-in-the-loop, and in-vehicle tests before each software release.</p>
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<p>Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
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ensuring two main safety requirements.</p>
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<ol>
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<li>The driver must always be capable to immediately retake manual control of the vehicle,
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by stepping on the brake pedal or by pressing the cancel button.</li>
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<li>The vehicle must not alter its trajectory too quickly for the driver to safely
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react. This means that while the system is engaged, the actuators are constrained
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to operate within reasonable limits[^1].</li>
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</ol>
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<p>For additional safety implementation details, refer to <a href="https://github.com/commaai/panda#safety-model">panda safety model</a>. For vehicle specific implementation of the safety concept, refer to <a href="https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety">opendbc/safety/safety</a>.</p>
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<p>[^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.</p>
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<hr />
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<h3 id="forks-of-openpilot">Forks of openpilot</h3>
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<ul>
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<li>Do not disable or nerf <a href="https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring">driver monitoring</a></li>
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<li>Do not disable or nerf <a href="https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py">excessive actuation checks</a></li>
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<li>If your fork modifies any of the code in <code>opendbc/safety/</code>:</li>
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<li>your fork cannot use the openpilot trademark</li>
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<li>your fork must preserve the full <a href="https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests">safety test suite</a> and all tests must pass, including any new coverage required by the fork's changes</li>
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</ul>
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<p>Failure to comply with these standards will get you and your users banned from comma.ai servers.</p>
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<p><strong>comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.</strong></p>
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