OpenPilot是一个集合自适应巡航控制（Adaptive Cruise Control ，ACC）和车道保持辅助（Lane Keeping Assist，LKA）的系统。和其他ACC和LKA系统一样，openpilot要求驾驶员保持警惕，并时刻注意周围环境和本车情况。注意：为保证openpilot地安全运行，驾驶员保持警惕是必要条件，但不是充分条件。
为强制保证驾驶员的警觉性，openpilot增加了一个驾驶员监控系统，当发现驾驶员分心时可发出警告，提醒驾驶员。
但是，即使驾驶员全心贯注，为保证系统安全运行，仍需做出一些努力。在设计openpilot时，考虑了两点安全要素：
- 通过踩下任意踏板或按下取消按钮，驾驶员可以立即重新获得车辆的操控权
- 为保证驾驶安全地作出反应，车辆不能太快地改变其轨迹。这意味着当系统工作时，限制执行器在合理范围内工作。
OpenPilot Safety
openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. Like other ACC and LKA systems, openpilot requires the driver to be alert and to pay attention at all times. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be used safely.
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 have designed openpilot with two other safety considerations.
- The driver must always be capable to immediately retake manual control of the vehicle, by stepping on either pedal or by pressing the cancel button.
- 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 limits.
针对具体车型的安全设计，包括是否踩下踏板，加速度信号、转向扭矩、制动减速度的限制，可参考：
https://github.com/commaai/openpilot/blob/devel/SAFETY.md
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