Disclosed herein are systems and methods for peer-assisted safety models for autonomous and assisted-driving vehicles. In an embodiment, a safety-model service receives a safety-model request for a safety model from a target vehicle. The safety-model service identifies, responsive to receiving the safety-model request, one or more source vehicles as safety-model input sources. The safety-model service receives safety-model data associated with the identified one or more source vehicles. The safety-model service generates, based on the safety-model request and the received safety-model data, a target-vehicle safety model for the target vehicle. The safety-model service transmits the target-vehicle safety model to the target vehicle for use by the target vehicle.