Toyota just settled a big case relating to its cars. Here are two interesting blog posts with some details as well as the authors' opinions:
http://www.safetyresearch.net/2013/11/07/toyota-unintended-acceleration-and-the-big-bowl-of-spaghetti-code/
http://criticaluncertainties.com/2013/11/11/toyota-and-the-sphagetti-monster/
My big picture observation on this situation is that design methodology is very important. A bad design process is bound to produce poor designs. And as the saying goes, you have to bake in safety, you can't bolt it on. No amount of checking can make a bad design safe.
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