With an increasing degree of automation, automated vehicle systems become more complex in terms of functional components as well as interconnected hardware and software components. Thus, holistic systems engineering becomes a severe challenge. Emergent properties like system safety are not solely arguable in singular viewpoints such as structural representations of software or electrical wiring (e.g. fault tolerant). This states the need to get several viewpoints on a system and describe correspondences between these views in order to enable traceability of emergent system properties. Today, the most abstract view found in architecture frameworks is a logical description of system functions which structures the system in terms of information flow and functional components. In this article we extend established system viewpoints towards a capability-based assessment of an automated vehicle and conduct an exemplary safety analysis to derive behavioral safety requirements. These requirements can afterwards be attributed to different viewpoints in an architecture frameworks and thus be integrated into a development process for automated vehicles.
@cite_15 describe a development process for automated vehicles. The process includes a basic structure (following the sense-plan-act'' pattern) and holds a system management'' module, which, among other things, detects faults occurring in the system and, if necessary, changes the driving mode into manual''. Hence, the fault management algorithm monitors the health status of the overall system and degrades its functionality if the system reaches an unsafe state. In addition, a software architecture and its modules are derived from the basic structure and afterwards the implemented modules are mapped to a distributed component architecture. Although the perspectives are linked, there is no holistic architecture framework. Hence, requirements and constraints between the architectural perspectives are not visible and therefore not traceable.
@cite_15
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In the present work, fault detection in industrial automation processes is investigated. A fault detection method for observable process variables is extended for application cases, where the observations of process variables are noisy. The principle of this method consists in building a probability distribution model and evaluating the likelihood of observations under that model. The probability distribution model is based on a hybrid automaton which takes into account several system modes, i.e. phases with continuous system behaviour. Transitions between the modes are attributed to discrete control events such as on off signals. The discrete event system composed of system modes and transitions is modeled as finite state machine. Continuous process behaviour in the particular system modes is modeled with stochastic state space models, which incorporate neural networks. Fault detection is accomplished by evaluation of the underlying probability distribution model with a particle filter. In doing so both the hybrid system model and a linear observation model for noisy observations are taken into account. Experimental results show superior fault detection performance compared to the baseline method for observable process variables. The runtime of the proposed fault detection method has been significantly reduced by parallel implementation on a GPU. Many networked embedded sensing and control systems can be modeled as hybrid systems with interacting continuous and discrete dynamics. These systems present significant challenges for monitoring and diagnosis. Many existing model-based approaches focus on diagnostic reasoning assuming appropriate fault signatures have been generated. However, an important missing piece is the integration of model-based techniques with the acquisition and processing of sensor signals and the modeling of faults to support diagnostic reasoning. This paper addresses key modeling and computational problems at the interface between model-based diagnosis techniques and signature analysis to enable the efficient detection and isolation of incipient and abrupt faults in hybrid systems. A hybrid automata model that parameterizes abrupt and incipient faults is introduced. Based on this model, an approach for diagnoser design is presented. The paper also develops a novel mode estimation algorithm that uses model-based prediction to focus distributed processing signal algorithms. Finally, the paper describes a diagnostic system architecture that integrates the modeling, prediction, and diagnosis components. The implemented architecture is applied to fault diagnosis of a complex electro-mechanical machine, the Xerox DC265 printer, and the experimental results presented validate the approach. A number of design trade-offs that were made to support implementation of the algorithms for online applications are also described. The resources allocated for software quality assurance and improvement have not increased with the ever-increasing need for better software quality. A targeted software quality inspection can detect faulty modules and reduce the number of faults occurring during operations. We present a software fault prediction modeling approach with case-based reasoning (CBR), a part of the computational intelligence field focusing on automated reasoning processes. A CBR system functions as a software fault prediction model by quantifying, for a module under development, the expected number of faults based on similar modules that were previously developed. Such a system is composed of a similarity function, the number of nearest neighbor cases used for fault prediction, and a solution algorithm. The selection of a particular similarity function and solution algorithm may affect the performance accuracy of a CBR-based software fault prediction system. This paper presents an empirical study investigating the effects of using three different similarity functions and two different solution algorithms on the prediction accuracy of our CBR system. The influence of varying the number of nearest neighbor cases on the performance accuracy is also explored. Moreover, the benefits of using metric-selection procedures for our CBR system is also evaluated. Case studies of a large legacy telecommunications system are used for our analysis. It is observed that the CBR system using the Mahalanobis distance similarity function and the inverse distance weighted solution algorithm yielded the best fault prediction. In addition, the CBR models have better performance than models based on multiple linear regression. Highly automated road vehicles need the capability of stopping safely in a situation that disrupts continued normal operation, e.g. due to internal system faults. Motion planning for safe stop differs from nominal motion planning, since there is not a specific goal location. Rather, the desired behavior is that the vehicle should reach a stopped state, preferably outside of active lanes. Also, the functionality to stop safely needs to be of high integrity. The first contribution of this paper is to formulate the safe stop problem as a benchmark optimal control problem, which can be solved by dynamic programming. However, this solution method cannot be used in real-time. The second contribution is to develop a real-time safe stop trajectory planning algorithm, based on selection from a precomputed set of trajectories. By exploiting the particular properties of the safe stop problem, the cardinality of the set is decreased, making the algorithm computationally efficient. Furthermore, a monitoring based architecture concept is proposed, that ensures dependability of the safe stop function. Finally, a proof of concept simulation using the proposed architecture and the safe stop trajectory planner is presented.