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A formal framework for the safe design of the Autonomous Driving supervision

机译：自动驾驶监管安全设计的正式框架

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The autonomous vehicle is meant to drive by itself, without any driver intervention (for the levels 4 and 5 of automated driving, according to the National Highway Traffic Safety Administration(NHTSA)). This car includes a new function, called Autonomous Driving (AD) function, in charge of driving the vehicle when it is authorized. This function may be in different states (basically active or inactive), that shall be managed by a sub-function, named supervision. The main focus of this work is to ensure that the supervision of a function, performed by a safety critical embedded automotive control system (controlled systems are not considered), respects functional and safety requirements. Usually two processes are involved in the system design: the systems engineering process and the safety one. The first process defines the functional requirements on the function while the safety one specifies redundant sub-functions (realizing together the function) allowing to ensure a continuous service under failure. Since two different aspects of the system are specified, it is a major challenge to make all requirements consistent, from the outset of the design process. In this paper, a method is precisely proposed to address this issue. A progressive reinforcement of the treated requirements is achieved by means of formal state models. In fact, the proposed approach permits to build state models from requirements initially expressed in natural language. Potential ambiguities, incompletenesses or undertones in requirements are in this way gradually deleted. The enrichment of conventional formal verification of control properties with safety requirements constitutes the main originality of the deployed method and contributes to solve inconsistencies between functional and safety verification processes. In addition, the application of the method to the design of AD function supervision highlights its efficiency in an industrial context. (C) 2018 Elsevier Ltd. All rights reserved.
机译：自动驾驶汽车的意思是自动驾驶，无需驾驶员干预（根据国家公路交通安全管理局（NHTSA）的规定，自动驾驶的等级为4和5）。该汽车包括一项称为自动驾驶（AD）功能的新功能，负责在授权时驾驶车辆。该功能可能处于不同的状态（基本处于活动状态或非活动状态），应由名为监督的子功能进行管理。这项工作的主要重点是确保由安全关键的嵌入式汽车控制系统执行的功能监督（不考虑受控系统）尊重功能和安全要求。系统设计通常涉及两个过程：系统工程过程和安全过程。第一个过程定义了对功能的功能要求，而安全过程则指定了冗余子功能（一起实现功能），以确保在出现故障时能够连续提供服务。由于指定了系统的两个不同方面，因此从设计过程开始就使所有要求保持一致是一个重大挑战。在本文中，精确地提出了一种解决该问题的方法。通过形式化状态模型可以逐步增强已处理的需求。实际上，所提出的方法允许根据最初以自然语言表达的需求来构建状态模型。以这种方式逐渐消除了需求中潜在的歧义，不完整或含蓄。对常规控制属性进行形式化验证和安全要求的丰富，构成了所采用方法的主要创意，并有助于解决功能验证过程与安全验证过程之间的矛盾。此外，该方法在AD功能监督设计中的应用突出了其在工业环境中的效率。 （C）2018 Elsevier Ltd.保留所有权利。

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