Skip to main content
SpringerLink
Log in

A Toolchain for Synthesizing and Validating Safety Architectures

  • Original Research
  • Published:
SN Computer Science Aims and scope Submit manuscript

Abstract

Autonomous vehicles handle complicated tasks that may lead to harm when performed incorrectly. These harms, in particular when caused by system faults, may be avoided by the deployment of safety architectural patterns, such as the Heterogeneous Duplex pattern. Our goal is to provide safety engineers with computer-aided support for synthesizing architectures with safety architecture patterns. To this end, we build on our previous work in which we proposed a model-based system engineering plugin to enable the model-driven approach using safety architecture patterns. This article proposes a toolchain for synthesizing the structure and switching logic of safety architectures, as well as for validating them through simulation-based fault-injection. We validate our toolchain using an industrial use-case for autonomous driving systems, namely, a Highway Pilot system.

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

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20
Fig. 21

Similar content being viewed by others

Data availability

The results have been achieved together with our industrial partners, and not publicly available. The interested reader may contact us for the data.

Notes

  1. https://fmi-standard.org/.

  2. https://www.ros.org/.

  3. https://git.fortiss.org/ff1/simulation.

  4. https://www.fortiss.org/en/research/fortiss-labs/detail/mobility-lab.

  5. https://ode.org/.

References

  1. Armoush, A. Design patterns for safety-critical embedded systems. PhD thesis, RWTH Aachen University (2010)

  2. Preschern C, Kajtazovic N, Kreiner C. Building a safety architecture pattern system. In: van Heesch U, Kohls C (eds) Proceedings of the 18th European Conference on Pattern Languages of Program, EuroPLoP 2013, Irsee, Germany, July 10-14, 2013, pp. 17–11755. ACM, New York (2013). https://doi.org/10.1145/2739011.2739028.

  3. Dantas YG Munaro T, Cârlan C, Nigam V, Barner S, Fan S, Pretschner A, Schöpp U, Tverdyshev S. A Model-based System Engineering Plugin for Safety Architecture Pattern Synthesis. In: Pires LF, Hammoudi S, Seidewitz E (eds) Proceedings of the 10th International Conference on Model-Driven Engineering and Software Development, MODELSWARD 2022, Online Streaming, February 6-8, 2022, pp. 36–47. SCITEPRESS, Portugal (2022). https://doi.org/10.5220/0010831700003119.

  4. fortiss GmbH: AutoFOCUS 2.21. Available at https://af3.fortiss.org/. https://af3.fortiss.org/. Accessed 10 June 2022.

  5. Eclipse Foundation: Eclipse Modeling Framework (EMF). Available at https://www.eclipse.org/modeling/emf/. https://www.eclipse.org/modeling/emf/. Accessed 10 June 2022.

  6. Pohl K, Hönninger R, Harald Achatz Broy M (eds) (2012) The SPES 2020 Engineering-methodology for software-intensive embedded systems, p. 301. Springer, New York

  7. Aravantinos V, Voss S, Teufl S, Hölzl F, Schätz B. AutoFOCUS 3: Tooling concepts for seamless, model-based development of embedded systems. In: Proc. 8th Int. Workshop Model-based Architecting of Cyber-Physical and Embedded Systems (ACES-MB), pp. 19–26 (2015)

  8. Barner S, Chauvel F, Diewald A, Eizaguirre F, Haugen Ø, Migge J, Vasilevskiy A. In: Ahmadian, H., Obermaisser, R., Perez, J. (eds.) Modeling and Development Process, pp. 87–161. CRC Press, Boca Raton (2018). https://doi.org/10.1201/9781351117821-4

  9. Eder J, Zverlov S, Voss S, Khalil M, Ipatiov A, Bringing DSE to life: Exploring the design space of an industrial automotive use case. In: 20th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2017, Austin, TX, USA, September 17-22, 2017, pp. 270–280. IEEE Computer Society, Washington, D.C. (2017). https://doi.org/10.1109/MODELS.2017.36.

  10. Zverlov S, Voss S, Böhm T, Herpel H.-J, Kerep M, Model-based methodology for space vehicles. In: Proceedings of the Eurospace Annual Conference on Data Systems in Aerospace (DASIA) (2019)

  11. Diewald A, Barner S, Saidi S, Combined data transfer response time and mapping exploration in mpsocs. In: 10th International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS) Co-located with ECRTS (2019). https://archives.ecrts.org/fileadmin/WebsitesArchiv/ecrts2019/waters/waters-program/

  12. Eder J, Bayha A, Voss S, Ipatiov A, Khalil M, From deployment to platform exploration: Automatic synthesis of distributed automotive hardware architectures. In: Wasowski, A., Paige, R.F., Haugen, Ø. (eds.) Proceedings of the 21th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2018, Copenhagen, Denmark, October 14-19, 2018, pp. 438–446. ACM, New York (2018). https://doi.org/10.1145/3239372.3239385.

  13. Eder J, Voss S, Bayha A, Ipatiov A, Khalil M. Hardware architecture exploration: automatic exploration of distributed automotive hardware architectures. Software and Systems Modeling. 2020. https://doi.org/10.1007/s10270-020-00786-6.

  14. Migge J, Balbastre P, Barner S, Chauvel F, Craciunas S.S, Diewald A, Durrieu G, Haugen Ø, Seyed A.A.J, Pagetti C, Oliver R.S, Vasilevskiy A In: Ahmadian, H., Obermaisser, R., Perez, J. (eds.) Algorithms and Tools, pp. 163–259. CRC Press, Boca Raton, 2018. https://doi.org/10.1201/9781351117821-5

  15. Barner S, Diewald A, Migge J, Syed A, Fohler G, Faugère M, Gracia Pérez D. DREAMS toolchain: Model-driven engineering of mixed-criticality systems. In: Proceedings of the ACM/IEEE 20th International Conference on Model Driven Engineering Languages and Systems (MODELS ’17), pp. 259–269. IEEE, Austin, TX, USA 2017. https://doi.org/10.1109/MODELS.2017.28

  16. Barner S, Diewald A, Eizaguirre F, Vasilevskiy A, Chauvel F. Building product-lines of mixed-criticality systems. In: Proceedings of the Forum on Specification and Design Languages (FDL 2016). IEEE, Bremen, Germany 2016. https://doi.org/10.1109/FDL.2016.7880378

  17. Eder J, Voss S. Usable design space exploration in AutoFOCUS3. In: Joint Proceedings of the 12th Educators Symposium (EduSymp 2016) and 3rd International Workshop on Open Source Software for Model Driven Engineering (OSS4MDE 2016) Co-located with MODELS 2016, pp. 51–58. CEUR-WS, 2016. http://ceur-ws.org/Vol-1835/paper08.pdf

  18. Voss S, Eder J, Hölzl F. Design space exploration and its visualization in autofocus3. In: Software Engineering (Workshops), pp. 57–66 2014. http://ceur-ws.org/Vol-1129/paper33.pdf

  19. ISO26262: ISO 26262, road vehicles - functional safety - part 6: Product development: software level (2018). Available at https://www.iso.org/standard/43464.html

  20. Avizienis A, Laprie J-C, Randell B, Landwehr CE. Basic concepts and taxonomy of dependable and secure computing. IEEE Trans Dependable Secur Comput. 2004;1(1):11–33.

    Article  Google Scholar 

  21. Real-Time Design Patterns: Robust Scalable Architecture for Real-Time Systems, (2012)

  22. Sljivo I, Uriagereka GJ, Puri S, Gallina B. Guiding assurance of architectural design patterns for critical applications. J Syst Archit. 2020;110: 101765. https://doi.org/10.1016/j.sysarc.2020.101765.

    Article  Google Scholar 

  23. Preschern C, Kajtazovic N, Kreiner C. Security analysis of safety patterns. In: Proceedings of the 20th Conference on Pattern Languages of Programs (PLoP '13). 2013. pp. 1–38.

  24. Biondi A, Nesti F, Cicero G, Casini D, Buttazzo GC. A safe, secure, and predictable software architecture for deep learning in safety-critical systems. IEEE Embed Syst Lett. 2020;12(3):78–82. https://doi.org/10.1109/LES.2019.2953253.

    Article  Google Scholar 

  25. Bak S, Chivukula D.K, Adekunle O, Sun M, Caccamo M, Sha L. The system-level simplex architecture for improved real-time embedded system safety. In: 15th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2009, San Francisco, CA, USA, 13-16 April 2009, pp. 99–107. IEEE Computer Society, Washington, D.C. 2009. https://doi.org/10.1109/RTAS.2009.20

  26. Dantas YG, Kondeva A, Nigam V. Less manual work for safety engineers: Towards an automated safety reasoning with safety patterns. In: International Conference on Logic Programming (ICLP) 2020

  27. Leone N, Pfeifer G, Faber W, Eiter T, Gottlob G, Perri S, Scarcello F. The DLV system for knowledge representation and reasoning. ACM Trans Comput Logic. 2006;7(3):499–562.

    Article  MathSciNet  MATH  Google Scholar 

  28. Wood M, Robbel P, Maass M, Tebbens RD, Meijs M, Harb M, Reach J, Robinson K, Wittmann D, Srivastava T, Bouzouraa M.E, Liu S, Wang Y, Knobel C, Boymanns D, Löhning M, Dehlink B, Kaule D, Krüger R, Frtunikj J, Raisch F, Gruber M, Steck J, Mejia-Hernandez J, Syguda S, Blüher P, Klonecki K, Schnarz P, Wiltschko T, Pukallus S, Sedlaczek K, Garbacik N, Smerza D, Li D, Timmons A, Bellotti M, O’Brien, M., Schöllhorn, M., Dannebaum, U., Weast, J., Tatourian, A., Dornieden, B., Schnetter, P., Themann, P., Weidner, T., Schlicht, P.: Safety first for automated driving. Technical report, Aptiv; Audi; Baidu; BMW; Continental; Daimler; Fiat Chrysler Automobiles; HERE; Infineon; Intel; Volkswagen; (2019). https://www.daimler.com/documents/innovation/other/safety-first-for-automated-driving.pdf. Accessed 10 June 2022.

  29. EmbASP. Available at https://www.mat.unical.it/calimeri/projects/embasp/. Accessed 10 June 2022.

  30. Becker K, Voss S, Schätz B. Formal analysis of feature degradation in fault-tolerant automotive systems. Science of Computer Programming. 2018;154:89–133. https://doi.org/10.1016/j.scico.2017.10.007. Formal Techniques for Safety-Critical Systems 2015.

  31. Munaro T, Muntean I. Early assessment of system-level safety mechanisms through co-simulation-based fault injection. In: 2022 IEEE Intelligent Vehicles Symposium (IV), pp. 1703–1708 2022. https://doi.org/10.1109/IV51971.2022.9827327

  32. Schröder N, Lenord O, Lange R. Enhanced motion control of a self-driving vehicle using modelica, fmi and ros. Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4-6, 2019 157, 441–450 (2019). https://doi.org/10.3384/ecp19157441

  33. Sargent R.G. Verification and validation of simulation models. In: Proceedings of the 2010 Winter Simulation Conference, pp. 166–183. IEEE, 2010. https://doi.org/10.1109/WSC.2010.5679166.

  34. Hauer F, Schmidt T, Holzmuller B, Pretschner A. Did we test all scenarios for automated and autonomous driving systems?, pp. 2950–2955. IEEE, (2019). https://doi.org/10.1109/ITSC.2019.8917326.

  35. Matinnejad R, Nejati S, Briand L, Bruckmann T, Poull C. Search-based automated testing of continuous controllers: Framework, tool support, and case studies. Information and Software Technology. 2015;57:705–22. https://doi.org/10.1016/j.infsof.2014.05.007.

    Article  Google Scholar 

  36. Sinha P. Architectural design and reliability analysis of a fail-operational brake-by-wire system from iso 26262 perspectives. Reliability Engineering & System Safety. 2011;96(10):1349–59. https://doi.org/10.1016/j.ress.2011.03.013.

    Article  Google Scholar 

  37. Kohn A, Käßmeyer M, Schneider R, Roger A, Stellwag C, Herkersdorf A. Fail-operational in safety-related automotive multi-core systems. In: 10th IEEE International Symposium on Industrial Embedded Systems (SIES) 2015. https://doi.org/10.1109/SIES.2015.7185051

  38. Wei J, Snider J.M, Kim J, Dolan J.M, Rajkumar R, Litkouhi B. Towards a viable autonomous driving research platform. In: 2013 IEEE Intelligent Vehicles Symposium (IV), pp. 763–770 (2013). https://doi.org/10.1109/IVS.2013.6629559

  39. Sommer S, Camek A, Buckl C, Becker K, Zirkler A, Fiege L, Armbruster M, Knoll A. Race: A centralized platform computer based architecture for automotive applications. In: Vehicular Electronics Conference (VEC) and the International Electric Vehicle Conference (IEVC) (VEC/IEVC 2013). IEEE 2013

  40. Knoll A, Buckl C, Kuhn K.-J, Spiegelberg G. In: Dajsuren, Y., van den Brand, M. (eds.) The RACE Project: An Informatics-Driven Greenfield Approach to Future E/E Architectures for Cars, pp. 171–195. Springer. https://doi.org/10.1007/978-3-030-12157-0_8

  41. Ruiz A, Juez G, Schleiss P, Weiss G. A safe generic adaptation mechanism for smart cars. In: 2015 IEEE 26th International Symposium on Software Reliability Engineering (ISSRE), pp. 161–171 2015. https://doi.org/10.1109/ISSRE.2015.7381810

  42. Penha D, Weiss G, Stante A. Pattern-based approach for designing fail-operational safety-critical embedded systems. In: 2015 IEEE 13th International Conference on Embedded and Ubiquitous Computing, pp. 52–59 (2015). https://doi.org/10.1109/EUC.2015.14

  43. Kim J, Bhatia G, Rajkumar R, Jochim M. Safer: System-level architecture for failure evasion in real-time applications. In: 2012 IEEE 33rd Real-Time Systems Symposium, pp. 227–236 2012. https://doi.org/10.1109/RTSS.2012.74

  44. Kim J, Rajkumar RR, Jochim M. Towards dependable autonomous driving vehicles: A system-level approach. SIGBED Rev. 2013;10(1):29–32. https://doi.org/10.1145/2492385.2492390.

    Article  Google Scholar 

  45. Becker K, Frtunikj J, Felser M, Fiege L, Buckl C, Rothbauer S, Zhang L, Klein C. RACE RTE: A Runtime Environment for Robust Fault-Tolerant Vehicle Functions. In: CARS 2015 - Critical Automotive Applications: Robustness & Safety, Paris, France 2015. https://hal.archives-ouvertes.fr/hal-01192987. Accessed 10 June 2022.

  46. Becker K. Software deployment analysis for mixed reliability automotive systems. Dissertation, Technische Universität München, München (2017). http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20170726-1345914-1-1. Accessed 10 June 2022.

  47. Papadopoulos Y, Walker M, Parker D, Ruede E, Hamann R, Uhlig A, Graetz U, Lien R. Engineering failure analysis and design optimisation with HiP-HOPS. Journal of Engineering Failure Analysis. 2011;18(2):590–608. https://doi.org/10.1016/j.engfailanal.2010.09.025.

    Article  Google Scholar 

  48. Belmonte F, Soubiran E. A model based approach for safety analysis. In: Ortmeier, F., Daniel, P. (eds.) Computer Safety, Reliability, and Security - SAFECOMP 2012 Workshops: Sassur, ASCoMS, DESEC4LCCI, ERCIM/EWICS, IWDE, Magdeburg, Germany, September 25-28, 2012. Proceedings. Lecture Notes in Computer Science, vol. 7613, pp. 50–63. Springer, New York (2012). https://doi.org/10.1007/978-3-642-33675-1_5.

  49. de Moura L.M, Bjørner N. Z3: an efficient SMT solver. In: Ramakrishnan, C.R., Rehof, J. (eds.) Tools and Algorithms for the Construction and Analysis of Systems, 14th International Conference, TACAS 2008, Held as Part of the Joint European Conferences on Theory and Practice of Software, ETAPS 2008, Budapest, Hungary, March 29-April 6, 2008. Proceedings. Lecture Notes in Computer Science, vol. 4963, pp. 337–340. Springer, New York, (2008). https://doi.org/10.1007/978-3-540-78800-3_24.

  50. Uriagereka G.J, Lattarulo R, Rastelli J.P, Calonge E.A, Lopez A.R, Ortiz H.E. Fault injection method for safety and controllability evaluation of automated driving. In: 2017 IEEE Intelligent Vehicles Symposium (IV), pp. 1867–1872. IEEE, (2017). https://doi.org/10.1109/IVS.2017.7995977

  51. Sini J, Violante M. An Automatic Approach to Perform FMEDA Safety Assessment on Hardware Designs. In: 2018 IEEE 24th International Symposium on On-Line Testing And Robust System Design (IOLTS), pp. 49–52. IEEE, (2018). https://doi.org/10.1109/IOLTS.2018.8474217

  52. Svenningsson R, Vinter J, Eriksson H, Törngren M. MODIFI: A MODel-Implemented Fault Injection Tool. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 6351 LNCS, 210–222 2010

  53. Saraoglu M, Morozov A, Janschek K. MOBATSim: MOdel-Based Autonomous Traffic Simulation Framework for Fault-Error-Failure Chain Analysis. IFAC-PapersOnLine. 2019;52:239–44.

    Article  Google Scholar 

  54. Neema H, Gohl J, Lattmann Z, Sztipanovits J, Karsai G, Neema S, Bapty T, Batteh J, Tummescheit H, Sureshkumar C. Model-Based Integration Platform for FMI Co-Simulation and Heterogeneous Simulations of Cyber-Physical Systems. In: Proceedings of the 10th International Modelica Conference, March 10-12, 2014, Lund, Sweden, vol. 96, pp. 235–245 2014

  55. dSPACE GmbH: Always the Right Model. dSPACE Magazin, 12–17 2015

  56. Frasheri M, Thule C, Macedo H.D, Lausdahl K, Larsen P.G, Esterle L. Fault injecting co-simulations for safety. In: 2021 5th International Conference on System Reliability and Safety (ICSRS), pp. 6–13. IEEE, ??? (2021). https://doi.org/10.1109/ICSRS53853.2021.9660728

Download references

Author information

Authors and Affiliations

  1. fortiss GmbH, Munich, Germany

    Yuri Gil Dantas, Tiziano Munaro, Simon Barner, Alexander Pretschner & Ulrich Schöpp

  2. Huawei Technologies Düsseldorf GmbH, Düsseldorf, Germany

    Vivek Nigam, Shiqing Fan & Sergey Tverdyshev

  3. Edge Case Research, Munich, Germany

    Carmen Carlan

  4. Technische Universität München, Munich, Germany

    Alexander Pretschner

Authors
  1. Yuri Gil Dantas
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tiziano Munaro
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Carmen Carlan
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Vivek Nigam
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Simon Barner
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Shiqing Fan
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Alexander Pretschner
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Ulrich Schöpp
    View author publications

    You can also search for this author in PubMed Google Scholar

  9. Sergey Tverdyshev
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yuri Gil Dantas.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This article is part of the topical collection “Advances on Model-Driven Engineering and Software Development” guest edited by Luís Ferreira Pires and Slimane Hammoudi.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Gil Dantas, Y., Munaro, T., Carlan, C. et al. A Toolchain for Synthesizing and Validating Safety Architectures. SN COMPUT. SCI. 4, 335 (2023). https://doi.org/10.1007/s42979-023-01712-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s42979-023-01712-5

Keywords

Search

Navigation