[2] ISO26262 [1] ISO26262 IEC61508 ISO26262 ( ) SG(Safety Goal) SG ISO26262 (EPS, Electronic Power Steering system) EPS ( ) KAOS[3] EPS 2 KAOS Tim Kel

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1 ISO ISO26262 Safety Goal KAOS Modeling Safety Requirements of ISO26262 using Goal Trees and Patterns Toshiaki Aoki 1 Kriangkrai Traichaiyaporn 1 Yuki Chiba 1 Masahiro Matsubara 2 Masataka Nishi 2 Fumio Narisawa 2 Abstract: In ISO 26262, safety requirements are constructed from general goals to be achieved into system, hardware and software requirements step by step Such stepwise construction of the saftey requirements allow us to confirm that the system realizes the goals by making them traceable The traceability also helps us to exhaustively extract requirements which are necessary to achieve safety On the other hand, it depends on the quality of the documents If the documents contain ambiguities, contradictions and many of requirements are missing, those lead to the unsafety of the system We conducted a case study to make safety requirements in which traceability of the requirements is realized using the goal tree of KAOS Although the document is still under construction when we analyzed it, we found many of implicit assuptions missing and ambigous requirements To solve this problem, we proposed a method to describe the safety requirements based on the goal tree and its patterns Then, we confirmed the effectivenes of the method by applying it to an electronic power steering system In this paper, we show the proposed mentod and the case study of the electronic power steering system Keywords: Functional safety, safety requirements, goal-oriented analysis, automotive systems 1 1 JAIST 2 ( ) Hitachi, Ltd, Research & Development Group, Center for Technology Innovation - Controls IEC

2 [2] ISO26262 [1] ISO26262 IEC61508 ISO26262 ( ) SG(Safety Goal) SG ISO26262 (EPS, Electronic Power Steering system) EPS ( ) KAOS[3] EPS 2 KAOS Tim Kelly GSN(Goal Structuring Notation) [4] GSN Tim Kelly [7] KAOS GSN EDenny GSN [5], [6] GSN KAOS [9] 3 31 ISO26262 ISO26262 SG(Safety Goal) SG FSR(Functional Safety) FSR SG FSR TSR (Technical Safety Requirement) TSR HSR(Hardware Safety Requirement) SSR(Software Safety Requirement) HSR SSR ISO26262 PAA(Preliminary Architecture Asssumption) PAA PAA 32 KAOS 25

3 バッテリー 電力供給 1 ECU モータ駆動電流 タイヤ 舵角 ラック アシスト用モータ 減速機構 舵角センサ ( ) G G 1,, G n G 1 G n G KAOS G G 1,, G n {G 1, G n } = G ISO26262 ISO PAA 1 ECU ECU PAA 2 1,2,3 1,2,3 EPS Power Supply Unit Mortor Pre-Driver Inverter Pre-Driver Voltage Monitor Inverter Voltage Monitor Diagnostic Function Pre-Driver Voltage Monitor Inverter Voltage Monitor Fail-safe Action Function Manual Steering Fail-safe Action Function Mortor Pre-Driver, Inverter Relay, Motor Relay ( 1 1,2,3) Current Control Unit, Pre-Driver, Inverter, Diagnostic Funtion, Fail-safe Action Function CCU, PD, Inv, DF, FSF 42 ( ) ( ) SG FSR, TSR, HSR/SSR 3 G1 FSR G2 G5 TSR G1 G5 G1 System shall make transition to Manual Steering if failure of voltage supplied to Current Control Unit has been detected G2 Demand for transition to Manual Steering shall be sent to ECU Processing Unit if failure of voltage supplied to inverter has been detected G3 Demand for transition to Manual Steering shall be sent to ECU Processing Unit if failure of voltage supplied to Pre-Driver has been detected G4 ECU Processing Unit shall send Stop Demand to Pre-Driver if ECU Processing Unit has received demand for transition to Manual Steering G5 Pre-Driver shall stop according to Stop Demand G2 G5 G1 26

4 Current Control Unit Power Supply Unit Power Pre-Driver 1 Current Control Inverter Current 3 Motor 2 PWM Pre-Driver Voltage Monitor Inverter Voltage Monitor Voltage MPU Stop Signal 1 Diagnostic Function Manual Steering Fail-safe Action Function Open Circuit signal 2 LAN Open Circuit signal 3 Other ECUs 2 PAA 27

5 G1 G2 G5 G3 G4 3 FSR, TSR, HSR 3 Inv PD CCU Stop Demand PD PD Manual Steering Inv PD CCU CCU Inv PD CCU, Inv, PD 3 ECU Processing Unit PAA DF FSF MPU 5 51 ISO26262 TSR FSR HSR/SSR TSR EPS ( ) Modus Ponens( ) Modus Ponens A A B B KAOS 3 G1 G2 G1:(CCUVoltFailureDetected SState=Manual Steering) G2:(InvVoltFailureDetected DFSend(Manual Steering, DF, MPU) CCUVoltFailureDetected, SState=Manual Steering, InvVoltFailureDetected, DFSend(Manual Steering, DF, MPU) = DFSend CCUVoltFailureDetected VoltFailureDetected CCU Inv SState=Manual Steering DFSend(Manual Steering, DF, MPU) Manual Steering DF MPU ECU Processing Unit DF FSF 28

6 DF FSF PAA MPU Inv PD CCU CCUVoltFailureDetected == (InvVoltFailureDetected PDVoltFailureDetected) M S D 4 M, S, D C, T C C DSend(M, S, D) C M S D DSendW ithoutf ailure(m, S, D) DSend(M, S, D) DSendW ithoutf ailure(m, S, D) DReceived(M, D) M S D M D DReceived(M, D) T C T C 4 M, S, D, C, T C C DSend(M, S, D) DSendW ithoutf ailure(m, S, D) DSend(M, S, D) DSendW ithoutf ailure(m, S, D) DReceived(M, D) C DReceived(M, D) C DReceived(M, D) DReceived(M, D) T C C T C [10] 4 C DSend(M,S,D) DSendWithoutFailure(M,S,D) C TC DReceived(M,D) TC DSend(M,S,D) DSendWithoutFailure(M,S,D) DReceived(M,D) 4 53 (In-chip) (Inter-chip) (Inter-controller) 3 In-chip Inter-chip Inter-controller (Digital) (Analog) (DigitalCom) 3 Digital Analog DigitalCom 1 In-chip Digital Inter-chip DigitalCom ( ) 3 (Hight, Mid, Low) 4 (High) ( x 10 n ) 29

7 G1 G2 G5 G3 G4 G6 G8 G9 G11 G7 G10 5 EPS PAA PD MPU (Voltage) S, D, M, C, T C MPU, PD, Stop Demand, DFReceived( Manual Steering, MPU), SState = Manual Steering DFReceived( Manual Steering, MPU) SState = Manual Steering G10 DFReceived( Manual Steering, MPU) PDSend( Stop Demand,MPU,PD) G12 PDSendWithoutFailure( Stop Demand, MPU, PD) G13 PDSend( Stop Demand, MPU, PD) PDSendWithoutFailure( Stop Demand, MPU, PD) PDReceived( Stop Demand, PD) G14 PDReceived( Stop Demand,PD) SState = Manual Steering 6 G9 G11 G14 3 G1 / Digital Analog DigitalCom In-chip - Inter-chip Inter-controller - 1 G6 G2 G7 G3 G8 G4 G10 G5 G14 G12 G13 6 G9 G S, D, M, C, T C DF, MPU, Manual Steering, CCUVoltFailureDetected, SState = Manual Steering G2 G5 G2 G5 Modus Ponens G1 G6 G8 G2 G9 G11 MPU PD Stop Demand 6 62 EPS 3 FSR 24 30

8 DF FSF in-chip Digital Signal High PD MPU Inter-chip Analog Voltage Mid MPU PD Inter-chip Digital Signal High MPU PD Inter-chip Digital PWM High % 29 55% % 32% % 67% 7 ISO26262 KAOS [8] Modus Ponens Modus Ponens 31

9 Modus Ponens 55% 8 [1] ISO Road vehicles - functional safety, 2011 [2] IEC 61508: Functional safety of electrical/electronic/programmable electronic safety-related systems, 1998 [3] Axel van Lamsweerde:Requirements Engineering: From System Goals to UML Models to Software Specifications, Wiley, 2011 [4] RA Weaver and TP Kelly: The goal structuring notation-a safety argument notation, Workshop on Assurance Cases, Dependable Systems and Networks, 2004 [5] Ewen Denney, Ganesh Pai, and Iain Whiteside: Formal Foundations for Hierarchical Safety Cases, International Symposium on High Assurance Systems Engineering, pp52 59, 2015 [6] Ewen Denney and Ganesh Pai: A Formal Basis for Safety Case Patterns, SAFECOMP 2013, LNCS 8153, pp21 32, 2013 [7] Tim P Kelly and John A McDermid: Safety case construction and reuse using patterns, Safe Comp 97, pp55 69 Springer, 1997 [8] Matthew B Dwyer, George S Avrunin and James C Corbett: Patterns in property specifications for finitestate verification, International Conference on Software Engineering, pp , 1999 [9] Robert Darimont and Axel Van Lamsweerde: Formal refinement patterns for goal-driven requirements elaboration, ACM SIGSOFT Software Engineering Notes, 21(6), pp , 1996 [10] Erich Gamma, etal: Elements of reusable object orientated software, Addison-Wesley Professional, 1995 A1 G1 G2 G3 G4 G5 G6 System shall make transition to Manual Steering If failure of voltage supplied to Current Control Unit has been detected CCUVoltFailureDetected SState = Manual Steering Demand for transition to Manual Steering shall be sent to ECU Processing Unit if failure of voltage supplied to Current Control Unit has been detected CCUVoltFailureDetected DFSend( Manual Steering, DF, MPU) Demand for transition to Manual Steering shall be sent without failure DFSendWithoutFaulure( Manual Steering, DF, MPU) Demand for transition to Manual Steering shall be received if it is sent without failure (DFSend( Manual Steering, DF, MPU) DFSendWithoutFaulure ( Manual Steering, DF, MPU)) DFReceived( Manual Steering, MPU) System shall make transition to Manual Steering if Demand for transition to Manual Steering shall be received DFReceived( Manual Steering, MPU) SState = Manual Steering Demand for transition to Manual Steering shall be sent to ECU Processing Unit if failure of voltage supplied to inverter has been detected InvVoltFailureDetected DFSend( Manual Steering, DF, MPU) 32

10 G7 Demand for transition to Manual Steering shall be sent to ECU Processing Unit if failure of voltage supplied to Pre-driver has been detected PDVoltFailureDetected DFSend( Manual Steering, DF, MPU) G8 failure of voltage supplied to Current Control Unit has been detected if failure of voltage supplied to inverter or Pre-Driver has been detected CCUVoltFailureDetected (InvVoltFailureDetected PDVoltFailureDetected) G9 System shall make transition to Manual Steering if Pre-Driver stops PDStatus = Stop SState = Manual Steering G10 ECU Processing Unit shall send Stop Demand to Pre-Driver if ECU Processing Unit has received demand for transition to Manual Steering DFReceived( Manual Steering, MPU) PDSend( Stop Demand, MPU, PD) G11 Pre-Driver shall stop according to Stop Demand PDReceived( Stop Demand, PD) PDStatus = Stop 33

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