An advanced driver assistance system (ADAS) intervention logging system provides a non-intrusive, tamper-evident record of automated driving decisions. An intervention event detector identifies qualifying events and freezes a pre-event sensor buffer to preserve environmental context. An inference trace recorder captures internal logic and feature attributions via shared-memory observation hooks to generate a structured causal narrative without introducing latency to the ADAS pipeline. A counterfactual action logger documents rejected alternative maneuvers and their feasibility classifications. A tamper-evident audit chain manager compiles these data into an explainable intervention record (EIR), which is cryptographically linked in an append-only chain, signed by a hardware security module, and stored in write-once non-volatile memory. The system further includes a regulatory compliance engine and role-based access control for secure data extraction via diagnostic or telematics channels.