Umm Salamah reported: The Prophet, peace and blessings be upon him, would say when leaving the house, “In the name of Allah, I trust in Allah for there is no power or might but in Allah. Verily, we seek refuge in you from being misguided or misguiding others, from being oppressed or oppressing others, from behaving foolishly or being abused.”

Source: Sunan At-Tirmidhi 3427

Grade: Sahih (authentic) according to At-Tirmidhi

عَنْ أُمِّ سَلَمَةَ أَنَّ النَّبِيَّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ كَانَ إِذَا خَرَجَ مِنْ بَيْتِهِ قَالَ بِسْمِ اللَّهِ تَوَكَّلْتُ عَلَى اللَّهِ اللَّهُمَّ إِنَّا نَعُوذُ بِكَ مِنْ أَنْ نَزِلَّ أَوْ نَضِلَّ أَوْ نَظْلِمَ أَوْ نُظْلَمَ أَوْ نَجْهَلَ أَوْ يُجْهَلَ عَلَيْنَا

3427 سنن الترمذي كتاب الدعوات باب منه

قَالَ أَبُو عِيسَى هَذَا حَدِيثٌ حَسَنٌ صَحِيحٌ

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The doa is: 

بِسْمِ اللَّهِ تَوَكَّلْتُ عَلَى اللَّهِ اللَّهُمَّ إِنَّا نَعُوذُ بِكَ مِنْ أَنْ نَزِلَّ أَوْ نَضِلَّ أَوْ نَظْلِمَ أَوْ نُظْلَمَ أَوْ نَجْهَلَ أَوْ يُجْهَلَ عَلَيْنَا

In the name of Allah, I trust in Allah for there is no power or might but in Allah. Verily, we seek refuge in you from being misguided or misguiding others, from being oppressed or oppressing others, from behaving foolishly or being abused.