An autonomous driving controller includes a plurality of parallel processors operating on common input data. Each of the plurality of parallel processors includes a general processor, a security processor subsystem (SCS), and a safety subsystem (SMS). The general processors, the SCSs, and the SMSs of the plurality of parallel processors are configured to first, boot the plurality of SCSs from ROM second, boot the plurality of SMSs of the plurality of parallel processors from RAM or ROM, and, third, boot the plurality of general processors of the plurality of parallel processors from RAM. Between booting of the SCSs and the SMSs, at least one of the plurality of SCSs may load SMS boot code into the RAM that is dedicated to the plurality of SMSs.