tweak background

Author: nelsonjchen

README.md

@@ -32,7 +32,7 @@
 
 tl;dr: Toyota started to use cryptographical signatures to block openpilot (and other hacks). Some smart people in the industry hacked the signatures for _some_ cars, but not all cars.
 
-openpilot, in order to control the steering or latitude, needs to be able to man-in-the-middle the steering control messages used by the lane keep assist system. It blocks the original steering control messages and replaces them with its own. This is done by the forward-facing camera, which is also known as the "Forward Recognition Camera" or "Object Recognition Camera" in Toyota vehicles. The camera is responsible for the lane keep assist in Toyota vehicles.
+openpilot, in order to control the steering or latitude, needs to be able to man-in-the-middle the steering control messages used by the lane keep assist system. It blocks the original steering control messages and replaces them with its own. Messages originally come from the forward-facing camera, which is also known as the "Forward Recognition Camera" or "Object Recognition Camera" in Toyota vehicles. The camera is responsible for the lane keep assist in Toyota vehicles.
 
 There is a `STEERING_LKA`-ish message and more in some new Toyotas that currently has an "authentication code" scheme appended to the end. The algorithm and security system for this "authentication code" is somewhat known for certain vehicles but requires a key that is unique to each vehicle to be extracted or smuggled out of the vehicle (https://icanhack.nl/blog/secoc-key-extraction/). Not all vehicles are able to have their keys extracted with what is currently known. Without the key or knowledge of the system, third parties like comma and users cannot control the vehicle. While vehicles that have had their keys smuggled out are currently working with openpilot.