NHTSA has opened a formal investigation into comma.ai’s aftermarket driver assistance devices after five crashes where cars running openpilot plowed into stopped or slow-moving vehicles in their own lane. Two of those crashes killed three people.

The probe covers an estimated 30,000 comma three, comma 3X, and comma four devices. It’s the biggest regulatory problem for George Hotz’s startup since NHTSA pushed it to cancel its first product back in 2016.

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