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A retargetable fault injection framework for safety validation of autonomous vehicles

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Author: Fu, Y. · Terechko, A. · Bijlsma, T. · Cuijners, P.J.L. · Redegeld, J. · Ors, A.O.
Publisher: Institute of Electrical and Electronics Engineers IEEE
Source:Proceedings 2019 IEEE International Conference on Software Architecture, ICSA-C 2019, 25-29 March 2019, Hamburg, Germany, 69-76
Identifier: 867423
ISBN: 9781728118765
Article number: 8712351
Keywords: Automotive Systems · Autonomous Driving · Debugger Interface · Fault Injection · Functional Safety · ISO 26262 · NXP BlueBox Prototyping Platform · Industrial Innovation


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.