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.
A singular perspective on functionality is not sufficient. Especially when it comes to developing an autonomous vehicle, a deeper review of constraints and requirements (e.g. regarding performance) is necessary for structuring an overall system. Coste-Mani ere and Simmons @cite_17 states that architectures are the foundation of designing, implementing and validating robotic systems. Depending on the needs of the different applications provided in a system, different architectures are necessary.
@cite_17
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Architectures form the backbone of complete robotic systems. The right choice of architecture can go a long way in facilitating the specification, implementation and validation of robotic systems. Conversely, of course, the wrong choice can make one's life miserable. We present some of the needs of robotic systems, describe some general classes of robot architectures, and discuss how different architectural styles can help in addressing those needs. The paper, like the field itself, is somewhat preliminary, yet it is hoped that it will provide guidance for those who use, or develop, robot architectures.