A retargetable fault injection framework for safety validation of autonomous vehicles

Yuting Fu; Andrei Terechko; Tjerk Bijlsma; Pieter J.L. Cuijpers; Jeroen Redegeld; Ali Osman Ors

doi:10.1109/ICSA-C.2019.00020

A retargetable fault injection framework for safety validation of autonomous vehicles

Yuting Fu
, Andrei Terechko
, Tjerk Bijlsma
, Pieter J.L. Cuijpers
, Jeroen Redegeld
, Ali Osman Ors

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

15 Citations (Scopus)

Abstract

Autonomous vehicles use Electronic Control Units running complex software to improve passenger comfort and safety. To test safety of in-vehicle electronics, the ISO 26262 standard on functional safety recommends using fault injection during component and system-level design. A Fault Injection Framework (FIF) induces hard-to-trigger hardware and software faults at runtime, enabling analysis of fault propagation effects. The growing number and complexity of diverse interacting components in vehicles demands a versatile FIF at the vehicle level. In this paper, we present a novel retargetable FIF based on debugger interfaces available on many target systems. We validated our FIF in three Hardware-In-the-Loop setups for autonomous driving based on the NXP BlueBox prototyping platform. To trigger a fault injection process, we developed an interactive user interface based on Robot Operating System, which also visualized vehicle system health. Our retargetable debugger-based fault injection mechanism confirmed safety properties and identified safety shortcomings of various automotive systems.

Original language	English
Title of host publication	2019 IEEE International Conference on Software Architecture - Companion, ICSA-C 2019
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	69-76
Number of pages	8
ISBN (Electronic)	978-1-7281-1876-5
DOIs	https://doi.org/10.1109/ICSA-C.2019.00020
Publication status	Published - 9 May 2019
Event	2019 IEEE International Conference on Software Architecture Companion, ICSA-C 2019 - Hamburg, Germany Duration: 25 Mar 2019 → 29 Mar 2019 https://swk-www.informatik.uni-hamburg.de/~icsa2019/index.html

Conference

Conference	2019 IEEE International Conference on Software Architecture Companion, ICSA-C 2019
Abbreviated title	ICSA2019
Country/Territory	Germany
City	Hamburg
Period	25/03/19 → 29/03/19
Internet address	https://swk-www.informatik.uni-hamburg.de/~icsa2019/index.html

Funding

ACKNOWLEDGEMENT The authors would like to thank all national funding authorities and the ECSEL Joint Undertaking, which funded the PRYSTINE project under the grant agreement number 783190.

Keywords

Automotive Systems
Autonomous Driving
Debugger Interface
Fault Injection
Functional Safety
ISO 26262
NXP BlueBox Prototyping Platform

Access to Document

10.1109/ICSA-C.2019.00020

Cite this

Fu, Y., Terechko, A., Bijlsma, T., Cuijpers, P. J. L., Redegeld, J., & Ors, A. O. (2019). A retargetable fault injection framework for safety validation of autonomous vehicles. In 2019 IEEE International Conference on Software Architecture - Companion, ICSA-C 2019 (pp. 69-76). Article 8712351 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICSA-C.2019.00020

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title = "A retargetable fault injection framework for safety validation of autonomous vehicles",

abstract = "Autonomous vehicles use Electronic Control Units running complex software to improve passenger comfort and safety. To test safety of in-vehicle electronics, the ISO 26262 standard on functional safety recommends using fault injection during component and system-level design. A Fault Injection Framework (FIF) induces hard-to-trigger hardware and software faults at runtime, enabling analysis of fault propagation effects. The growing number and complexity of diverse interacting components in vehicles demands a versatile FIF at the vehicle level. In this paper, we present a novel retargetable FIF based on debugger interfaces available on many target systems. We validated our FIF in three Hardware-In-the-Loop setups for autonomous driving based on the NXP BlueBox prototyping platform. To trigger a fault injection process, we developed an interactive user interface based on Robot Operating System, which also visualized vehicle system health. Our retargetable debugger-based fault injection mechanism confirmed safety properties and identified safety shortcomings of various automotive systems.",

keywords = "Automotive Systems, Autonomous Driving, Debugger Interface, Fault Injection, Functional Safety, ISO 26262, NXP BlueBox Prototyping Platform",

author = "Yuting Fu and Andrei Terechko and Tjerk Bijlsma and Cuijpers, \{Pieter J.L.\} and Jeroen Redegeld and Ors, \{Ali Osman\}",

year = "2019",

month = may,

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doi = "10.1109/ICSA-C.2019.00020",

language = "English",

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booktitle = "2019 IEEE International Conference on Software Architecture - Companion, ICSA-C 2019",

publisher = "Institute of Electrical and Electronics Engineers",

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note = "2019 IEEE International Conference on Software Architecture Companion, ICSA-C 2019, ICSA2019 ; Conference date: 25-03-2019 Through 29-03-2019",

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Fu, Y, Terechko, A, Bijlsma, T, Cuijpers, PJL, Redegeld, J & Ors, AO 2019, A retargetable fault injection framework for safety validation of autonomous vehicles. in 2019 IEEE International Conference on Software Architecture - Companion, ICSA-C 2019., 8712351, Institute of Electrical and Electronics Engineers, Piscataway, pp. 69-76, 2019 IEEE International Conference on Software Architecture Companion, ICSA-C 2019, Hamburg, Germany, 25/03/19. https://doi.org/10.1109/ICSA-C.2019.00020

A retargetable fault injection framework for safety validation of autonomous vehicles. / Fu, Yuting; Terechko, Andrei; Bijlsma, Tjerk et al.
2019 IEEE International Conference on Software Architecture - Companion, ICSA-C 2019. Piscataway: Institute of Electrical and Electronics Engineers, 2019. p. 69-76 8712351.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Cuijpers, Pieter J.L.

AU - Redegeld, Jeroen

AU - Ors, Ali Osman

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AB - Autonomous vehicles use Electronic Control Units running complex software to improve passenger comfort and safety. To test safety of in-vehicle electronics, the ISO 26262 standard on functional safety recommends using fault injection during component and system-level design. A Fault Injection Framework (FIF) induces hard-to-trigger hardware and software faults at runtime, enabling analysis of fault propagation effects. The growing number and complexity of diverse interacting components in vehicles demands a versatile FIF at the vehicle level. In this paper, we present a novel retargetable FIF based on debugger interfaces available on many target systems. We validated our FIF in three Hardware-In-the-Loop setups for autonomous driving based on the NXP BlueBox prototyping platform. To trigger a fault injection process, we developed an interactive user interface based on Robot Operating System, which also visualized vehicle system health. Our retargetable debugger-based fault injection mechanism confirmed safety properties and identified safety shortcomings of various automotive systems.

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Y2 - 25 March 2019 through 29 March 2019

ER -

A retargetable fault injection framework for safety validation of autonomous vehicles

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