"Along with Aptiv, Audi, Baidu, BMW, Continental, Fiat Chrysler Automobiles, HERE, Infineon, Intel and Volkswagen, Daimler has published a white paper entitled Safety First for Automated Driving. As well as covering all relevant safety methods for Level 3/4 SAE automated driving, the paper introduces a traceability system, which extends from the primary goal – being safer than the average driver – right down to the individual safety objectives of the various components."
https://www.daimler.com/innovation/case/autonomous/safety-first-for-automated-driving-2.html
https://www.daimler.com/innovation/case/autonomous/safety-first-for-automated-driving-2.html
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