Skip to main content
SpringerLink
Log in

Analyzing a ROS Based Architecture for Its Cross Reuse in ISO26262 Settings

  • Conference paper
  • First Online:
Book cover New Trends in Model and Data Engineering (MEDI 2018)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 929))

Included in the following conference series:

Abstract

The automotive industry is applying the latest technological advances in order to provide safety and security to drivers and pedestrians. In this sense, Robot Operating System (ROS) is used as a middleware to be adapted and deployed in cars. However, ROS has not been tested enough to be used in safety environments. Therefore, this paper reports an analysis of a ROS based architecture running in a prototype. We define a safety case based on the ISO 26262 Safety Element out of Context (SEooC) for its cross reuse, and we generate the required evidences related to the identified characteristics and thresholds. Goal Structuring Notation (GSN) is the notation used for the safety case definition and to argue conformance with respect to ISO 26262.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    http://www.bmw-carit.com/.

  2. 2.

    http://www.ros.org.

  3. 3.

    https://www.iso.org/obp/ui/#iso:std:iso:26262:-10:ed-1:v1:en.

  4. 4.

    The bold typeface is ours.

  5. 5.

    http://www.goalstructuringnotation.info/.

  6. 6.

    http://www.adelard.com/asce/choosing-asce/cae.html.

  7. 7.

    http://sysa.omg.org/.

  8. 8.

    http://www.omg.org/hot-topics/cdss.htm.

  9. 9.

    http://www.omg.org/spec/SACM/1.1/.

  10. 10.

    https://www.automotivelinux.org/.

References

  1. Kato, S., Takeuchi, E., Ishiguro, Y., Ninomiya, Y., Takeda, K., Hamada, T.: An open approach to autonomous vehicles. IEEE Micro 35(6), 60–68 (2015). https://doi.org/10.1109/MM.2015.133

    Article  Google Scholar 

  2. Aeberhard, M.: Automated Driving with ROS at BMW, Open Source Robotics Foundation (2016). https://www.osrfoundation.org/michael-aeberhard-bmw-automated-driving-with-ros-at-bmw/. Accessed 13 Sep 2017

  3. Ainhauser, C., et al.: Autonomous driving needs ROS. ROS as a platform for autonomous driving functions, BMW Group, BMW Car IT GmbH (2013)

    Google Scholar 

  4. Noh, S., Park, B., An, K., Koo, Y., Han, W.: Co-pilot agent for vehicle/driver cooperative and autonomous driving. ETRI J. 37, 1032–1043 (2015). https://doi.org/10.4218/etrij.15.0114.0095

    Article  Google Scholar 

  5. International Standard Organisation. Road vehicles – Functional safety; ISO 26262- part 10 (2012)

    Google Scholar 

  6. Larrucea, X., Combelles, A., Favaro, J.: Safety-critical software [Guest editors’ introduction]. IEEE Softw. 30, 25–27 (2013). https://doi.org/10.1109/MS.2013.55

    Article  Google Scholar 

  7. Larrucea, X., Mergen, S., Walker, A.: A GSN approach to SEooC for an automotive hall sensor. In: Kreiner, C., O’Connor, R.V., Poth, A., Messnarz, R. (eds.) EuroSPI 2016. CCIS, vol. 633, pp. 269–280. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-44817-6_23

    Chapter  Google Scholar 

  8. Larrucea, X., Walker, A., Colomo-Palacios, R.: Supporting the management of reusable automotive software. IEEE Softw. 34(3), 40–47 (2017). https://doi.org/10.1109/MS.2017.68

    Article  Google Scholar 

  9. Hawkins, R., Habli, I., Kelly, T., McDermid, J.: Assurance cases and prescriptive software safety certification: a comparative study. Saf. Sci. 59, 55–71 (2013). https://doi.org/10.1016/j.ssci.2013.04.007

    Article  Google Scholar 

  10. Hernandez, C., Abella, J.: Timely error detection for effective recovery in light-lockstep automotive systems. IEEE Trans. Comput.-Aided Integr. Circuits Syst. 34, 1718–1729 (2015). https://doi.org/10.1109/TCAD.2015.2434958

    Article  Google Scholar 

  11. Gallina, B.: A model-driven safety certification method for process compliance. In: IEEE International Symposium Soft Reliability Engineering Workshops, pp. 204–209 (2014). https://doi.org/10.1109/ISSREW.2014.30

  12. Areias, C., Cunha, J.C., Iacono, D., Rossi, F.: Towards certification of automotive software. In: IEEE International Symposium Software Reliability Engineering, pp. 491–496 (2014). https://doi.org/10.1109/ISSREW.2014.54

  13. Adedjouma, M., Hu, H.: Process model tailoring and assessment for automotive certification objectives, pp. 503–508. IEEE (2014). https://doi.org/10.1109/ISSREW.2014.23

  14. Mader, R., Armengaud, E., Grießnig, G., Kreiner, C., Steger, C., Weiß, R.: OASIS: an automotive analysis and safety engineering instrument. Reliab. Eng. Syst. Saf. 120, 150–162 (2013). https://doi.org/10.1016/j.ress.2013.06.045

    Article  Google Scholar 

  15. OpenCert: Evolutionary Assurance and Certification for Safety-Critical Systems n.d. https://www.polarsys.org/introducing-opencert-evolutionary-assurance-and-certification-safety-critical-systems. Accessed 13 Mar 2018

  16. Rajan, A., Wahl, T. (eds.): EU Project CESAR - Cost-Efficient Methods and Processes for Safety-Relevant Embedded Systems. Springer, Heidelberg (2013). https://doi.org/10.1007/978-3-7091-1387-5_1

    Book  Google Scholar 

  17. EU project SafeCer - Safety Certification of Software-Intensive Systems with Reusable Components. http://safecer.eu/. Accessed 20 Apr 2017

  18. EU project OPENCOSS - Open Platform for EvolutioNary Certification of Safety-critical Systems. http://opencoss-project.eu. Accessed 20 Apr 2017

  19. Barry, M.R.: CertWare: a workbench for safety case production and analysis, pp. 1–10. IEEE (2011). https://doi.org/10.1109/AERO.2011.5747648

  20. International Standard Organisation. Road vehicles – Functional safety; ISO 26262 (2011)

    Google Scholar 

  21. Taylor, W., Krithivasan, G., Nelson, J.J.: System safety and ISO 26262 compliance for automotive lithium-ion batteries, pp. 1–6. IEEE (2012). https://doi.org/10.1109/ISPCE.2012.6398297

  22. Morris, J., Lee, G., Parker, K., Bundell, G.A., Lam, C.P.: Software component certification. Computer 34, 30–36 (2001). https://doi.org/10.1109/2.947086

    Article  Google Scholar 

  23. Voas, J.M.: Certifying off-the-shelf software components. Computer 31, 53–59 (1998). https://doi.org/10.1109/2.683008

    Article  Google Scholar 

  24. Verma, A.K., Ajit, S., Karanki, D.R. (eds.): Software Reliability. Reliability Safety Engineering, pp. 193–228. Springer, London (2010). https://doi.org/10.1007/978-1-84996-232-2

    Book  Google Scholar 

  25. Lyu, M.R.: Software reliability engineering: a roadmap, pp. 153–170. IEEE (2007). https://doi.org/10.1109/FOSE.2007.24

  26. Currit, P.A., Dyer, M., Mills, H.D.: Certifying the reliability of software. IEEE Trans. Softw. Eng. SE-12, 3–11 (1986). https://doi.org/10.1109/TSE.1986.6312914

    Article  Google Scholar 

  27. Panesar-Walawege, R.K., Sabetzadeh, M., Briand, L.: Using model-driven engineering for managing safety evidence: challenges, vision and experience, pp. 7–12. IEEE (2011). https://doi.org/10.1109/WoSoCER.2011.8

  28. Wohlin, C., Regnell, B.: Reliability certification of software components. IEEE Comput. Soc. 56–65 (1998). https://doi.org/10.1109/ICSR.1998.685730

  29. Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., et al.: ROS: an open-source robot operating system. In: ICRA Workshop Open Source Software, vol. 3, p. 5(2009)

    Google Scholar 

  30. Staranowicz, A., Mariottini, G.L.: A survey and comparison of commercial and open-source robotic simulator software, p. 1. ACM Press (2011). https://doi.org/10.1145/2141622.2141689

  31. Noh, S., Han, W.-Y.: Collision avoidance in on-road environment for autonomous driving, pp. 884–889. IEEE (2014). https://doi.org/10.1109/ICCAS.2014.6987906

  32. Silva, M., Garrote, L., Moita, F., Martins, M., Nunes, U.: Autonomous electric vehicle: steering and path-following control systems. In: IEEE Mediterranean Electrotechnical Conference, pp. 442–445. (2012). https://doi.org/10.1109/MELCON.2012.6196468

  33. Pérez, J., et al.: Robotic manipulation within the underwater mission planning context. In: Carbone, G., Gomez-Bravo, F. (eds.) Motion and Operation Planning of Robotic Systems. MMS, vol. 29, pp. 495–522. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-14705-5_17

    Chapter  Google Scholar 

  34. Wassyng, A., Maibaum, T., Lawford, M., Bherer, H.: Software certification: is there a case against safety cases? In: Calinescu, R., Jackson, E. (eds.) Monterey Workshop 2010. LNCS, vol. 6662, pp. 206–227. Springer, Heidelberg (2011). https://doi.org/10.1007/978-3-642-21292-5_12

    Chapter  Google Scholar 

  35. Spriggs, J.: GSN - The Goal Structuring Notation. A Structured Approach to Presenting Arguments. Springer, London (2012). https://doi.org/10.1007/978-1-4471-2312-5

    Book  Google Scholar 

  36. Fachet, R.: Re-use of software components in the IEC-61508 certification process, vol. 2004, p. 8. IEEE (2004). https://doi.org/10.1049/ic:20040532

  37. Sârbu, C., Johansson, A., Suri, N., Nagappan, N.: Profiling the operational behavior of OS device drivers. Empir. Softw. Eng. 15, 380–422 (2010). https://doi.org/10.1007/s10664-009-9122-z

    Article  Google Scholar 

  38. Jiang, B., Chen, P., Chan, W.K., Zhang, X.: To what extent is stress testing of android TV applications automated in industrial environments? IEEE Trans. Reliab. 1–17 (2015). https://doi.org/10.1109/TR.2015.2481601

    Article  Google Scholar 

  39. Baker, R., Habli, I.: An empirical evaluation of mutation testing for improving the test quality of safety-critical software. IEEE Trans. Softw. Eng. 39, 787–805 (2013). https://doi.org/10.1109/TSE.2012.56

    Article  Google Scholar 

  40. Davis, R.I., Burns, A., Bril, R.J., Lukkien, J.J.: Controller area network (CAN) schedulability analysis: refuted, revisited and revised. R.-Time Syst. 35, 239–272 (2007). https://doi.org/10.1007/s11241-007-9012-7

    Article  Google Scholar 

Download references

Acknowledgments

This work has been partially supported by the Basque Government Project CPS4PSS Etortek14/10.

Author information

Authors and Affiliations

  1. Tecnalia. Parque Tecnológico de Bizkaia, Calle Geldo, Edificio 700, 48160, Derio, Spain

    Xabier Larrucea

  2. University of the Basque Country (UPV/EHU), Nieves Cano, 12, 01006, Vitoria-Gasteiz, Spain

    Pablo González-Nalda, Ismael Etxeberria-Agiriano, Mari Carmen Otero & Isidro Calvo

Authors
  1. Xabier Larrucea
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Pablo González-Nalda
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Ismael Etxeberria-Agiriano
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Mari Carmen Otero
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Isidro Calvo
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xabier Larrucea .

Editor information

Editors and Affiliations

  1. Cadi Ayyad University, Marrakesh, Morocco

    El Hassan Abdelwahed

  2. ISAE-ENSMA, Chasseneuil-du-Poitou, France

    Ladjel Bellatreche

  3. LIRIS Lab, University Lyon 1, IUT, Villeurbanne Cedex, France

    Djamal Benslimane

  4. Computer Science and Information Technology, University of Bologna, Cesena, Italy

    Matteo Golfarelli

  5. ISAE-ENSMA, Chasseneuil-du-Poitou, France

    Stéphane Jean

  6. LORIA, Nancy, France

    Dominique Mery

  7. University of Hyogo, Himeji, Japan

    Kazumi Nakamatsu

  8. University of Houston, Houston, TX, USA

    Carlos Ordonez

Annexes

Annexes

A more detailed description of the experimental environment and the individual execution results are available in data and graphical modes at the following annexes web address:

http://lsi.vc.ehu.eus/CPS-annexes.

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Larrucea, X., González-Nalda, P., Etxeberria-Agiriano, I., Otero, M.C., Calvo, I. (2018). Analyzing a ROS Based Architecture for Its Cross Reuse in ISO26262 Settings. In: Abdelwahed, E., et al. New Trends in Model and Data Engineering. MEDI 2018. Communications in Computer and Information Science, vol 929. Springer, Cham. https://doi.org/10.1007/978-3-030-02852-7_16

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-02852-7_16

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-02851-0

  • Online ISBN: 978-3-030-02852-7

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation