// === Description === // Automatisches Notbremssystem (Automatic Emergency Braking) zur Vermeidung // oder Abmilderung von Heckauffahr-Kollisionen. Verarbeitet Radar-, Kamera- // und optional Lidar-Daten zu einer Objektliste, berechnet die // Time-to-Collision und loest bei kritischer Unterschreitung autonom eine // Bremsung aus. Redundanzkonzept mit zwei Stromschienen, zwei Bus-Kanaelen, // dualen Entscheider-Kanaelen und drei Bremspfaden (ESC, IBS, EPB). // Sicherheitsziel ASIL D gemaess ISO 26262, Typgenehmigung nach UN-ECE R152. // === End Description === // FtaDSL Automatic Emergency Braking (AEB) // // Autor: Wolfgang Freese, Overath (Germany) // April 2026 // Version 1.0 // // Systemklassifikation: // ASIL D gemaess ISO 26262-3 (Hazard & Risk Assessment) // SOTIF relevant gemaess ISO 21448 // AEB Typgenehmigung gemaess UN-ECE R152 // // Anwendbare Normen und Referenzen: // ISO 26262-3 (Concept Phase, HARA, Safety Goals) // ISO 26262-4 (System Level Product Development) // ISO 26262-5 (Hardware Level Product Development) // ISO 26262-9 (ASIL Decomposition, Safety-Oriented Analyses) // ISO 21448 (Safety of the Intended Functionality, SOTIF) // ISO/SAE 21434 (Road Vehicles - Cybersecurity Engineering) // UN-ECE R152 (AEBS Regulation for M1/N1 vehicles) // IEC 61508-2/3 (Safety Lifecycle) // // Subsysteme: // Sensoren: LRR_Sensor, SRR_Sensor, FrontCamera, Lidar_Sensor // (jeweils mit SignalConditioning, ObjectTracker, HealthMonitor) // Fusion: SensorFusion, ObjectList_CrossCheck // Prediction: SituationClassifier, CollisionPredictor, PlausibilityMonitor // Arbitration: BrakingArbiter_Channel_A, BrakingArbiter_Channel_B, // Arbiter_Voter, SafetyStateMachine, WatchDog // Aktuatorik: ESC_Interface (primaer hydraulisch), // IBS_Interface (Integrated Brake System, redundant), // EPB_Interface (elektrische Parkbremse, ultimativer Backup), // BrakeBoosterMonitor // Fahrer HMI: DriverMonitor, WarningCoordinator, HMI_Display // Infrastr.: PowerSupplyUnit_A, PowerSupplyUnit_B, // CANController_A, CANController_B, // VehicleSpeedSource, SteeringAngleSource, YawRateSource // // Fault Modes (konsistent verwendet): // Object_NotDetected - Objekt im Fahrschlauch nicht erkannt // Object_GhostDetection - Falscherkennung (false positive) // TTC_Underestimate - Time-To-Collision zu niedrig berechnet // TTC_Overestimate - Time-To-Collision zu hoch berechnet (verspaetete Aktion) // BrakeCmd_Missing - Bremsbefehl fehlt // BrakeCmd_Spurious - ungewollter Bremsbefehl // BrakeCmd_Weak - Bremsbefehl zu schwach // Warning_Missing - Warnung an Fahrer fehlt // Power_Lost - Spannungsversorgung verloren // Bus_Silent - CAN-Bus ohne Kommunikation // Bus_Stuck - CAN-Bus auf festem Wert // Sensor_Blinded - Sensor geblendet (Sonne, Interferenz, Regen) // Data_Stale - Daten ueberaltert // // Top Level Event (TLE): // CollisionNotAvoided - das System fuehrt bei unmittelbar bevorstehender // Kollision die erforderliche Notbremsung nicht oder nicht rechtzeitig // aus. Klassifikation: Catastrophic / ASIL D (S3, E4, C3 gemaess // ISO 26262-3 Annex B). // // Redundanz-Architektur: // - 3-fach Sensor-Fusion (LRR, SRR, Camera) mit optionaler Lidar-Pfad // - ObjectList_CrossCheck verwirft Einzel-False-Positives // - Zwei unabhaengige Arbiter-Kanaele (A/B) mit Voter // - Drei Bremsaktuatoren (ESC primaer, IBS redundant, EPB Backup) // - Zwei unabhaengige 12V-Versorgungen und CAN-Busse // // MCSA-Aufruf: // mcsa AEB/AEB.txt 3 FUNCTION AEB INPUT RadarRaw_LRR INPUT RadarRaw_SRR INPUT CameraRaw INPUT LidarRaw INPUT VehicleSpeed_Raw INPUT SteeringAngle_Raw INPUT YawRate_Raw INPUT AmbientLight INPUT PwrFeed_A INPUT PwrFeed_B INPUT DriverOverride_BrakePedal INPUT CAN_A_Traffic INPUT CAN_B_Traffic OUTPUT BrakeCmd_ESC OUTPUT BrakeCmd_IBS OUTPUT BrakeCmd_EPB OUTPUT SteeringCmd_Evasive OUTPUT Warning_Visual OUTPUT Warning_Acoustic // ================================================================ // Sensor Layer // ================================================================ FUNCTION SignalCond_LRR INPUT RawIn OUTPUT Cond OIM Cond.Object_NotDetected.OR(RawIn.Sensor_Blinded; RawIn.Data_Stale) OIM Cond.Object_GhostDetection.RawIn.Sensor_Blinded OIM Cond.Data_Stale.RawIn.Data_Stale END FUNCTION FUNCTION ObjectTracker_LRR INPUT Cond OUTPUT Track OIM Track.Object_NotDetected.OR(Cond.Object_NotDetected; Cond.Data_Stale) OIM Track.Object_GhostDetection.Cond.Object_GhostDetection OIM Track.TTC_Underestimate.Cond.Object_GhostDetection OIM Track.TTC_Overestimate.Cond.Object_NotDetected END FUNCTION FUNCTION HealthMon_LRR INPUT Cond OUTPUT Health OIM Health.Warning_Missing.AND(Cond.Object_NotDetected; Cond.Data_Stale) OIM Health.Data_Stale.Cond.Data_Stale END FUNCTION FUNCTION LRR_Sensor INPUT RadarIn OUTPUT RadarObjectList OUTPUT LRR_Health FUNCTION LRR_Internal INPUT InRaw OUTPUT OutTrack OUTPUT OutHealth OIM OutTrack.Object_NotDetected.OR(InRaw.Sensor_Blinded; InRaw.Data_Stale) OIM OutTrack.Object_GhostDetection.InRaw.Sensor_Blinded OIM OutTrack.TTC_Underestimate.InRaw.Sensor_Blinded OIM OutTrack.TTC_Overestimate.InRaw.Data_Stale OIM OutTrack.Data_Stale.InRaw.Data_Stale OIM OutHealth.Warning_Missing.AND(InRaw.Sensor_Blinded; InRaw.Data_Stale) END FUNCTION INT ifLRR_Inner.LRR_Sensor.IN.RadarIn.LRR_Internal.IN.InRaw INT ifLRR_Track.LRR_Internal.OUT.OutTrack.LRR_Sensor.OUT.RadarObjectList INT ifLRR_Health.LRR_Internal.OUT.OutHealth.LRR_Sensor.OUT.LRR_Health END FUNCTION FUNCTION SRR_Sensor INPUT RadarIn OUTPUT SRRObjectList OUTPUT SRR_Health FUNCTION SRR_Internal INPUT InRaw OUTPUT OutTrack OUTPUT OutHealth OIM OutTrack.Object_NotDetected.OR(InRaw.Sensor_Blinded; InRaw.Data_Stale) OIM OutTrack.Object_GhostDetection.InRaw.Sensor_Blinded OIM OutTrack.TTC_Underestimate.InRaw.Sensor_Blinded OIM OutTrack.TTC_Overestimate.InRaw.Data_Stale OIM OutTrack.Data_Stale.InRaw.Data_Stale OIM OutHealth.Warning_Missing.AND(InRaw.Sensor_Blinded; InRaw.Data_Stale) END FUNCTION INT ifSRR_Inner.SRR_Sensor.IN.RadarIn.SRR_Internal.IN.InRaw INT ifSRR_Track.SRR_Internal.OUT.OutTrack.SRR_Sensor.OUT.SRRObjectList INT ifSRR_Health.SRR_Internal.OUT.OutHealth.SRR_Sensor.OUT.SRR_Health END FUNCTION FUNCTION FrontCamera INPUT CamIn INPUT Light OUTPUT VisualObjectList OUTPUT LaneLines OUTPUT Cam_Health FUNCTION Cam_Internal INPUT InRaw INPUT InLight OUTPUT OutTrack OUTPUT OutLanes OUTPUT OutHealth OIM OutTrack.Object_NotDetected.OR(InRaw.Sensor_Blinded; InLight.Sensor_Blinded; InRaw.Data_Stale) OIM OutTrack.Object_GhostDetection.OR(InRaw.Sensor_Blinded; InLight.Sensor_Blinded) OIM OutTrack.TTC_Underestimate.InRaw.Sensor_Blinded OIM OutTrack.TTC_Overestimate.OR(InRaw.Data_Stale; InLight.Sensor_Blinded) OIM OutTrack.Data_Stale.InRaw.Data_Stale OIM OutLanes.Object_NotDetected.OR(InRaw.Sensor_Blinded; InLight.Sensor_Blinded) OIM OutHealth.Warning_Missing.AND(InRaw.Sensor_Blinded; InLight.Sensor_Blinded) END FUNCTION INT ifCam_Inner1.FrontCamera.IN.CamIn.Cam_Internal.IN.InRaw INT ifCam_Inner2.FrontCamera.IN.Light.Cam_Internal.IN.InLight INT ifCam_Track.Cam_Internal.OUT.OutTrack.FrontCamera.OUT.VisualObjectList INT ifCam_Lanes.Cam_Internal.OUT.OutLanes.FrontCamera.OUT.LaneLines INT ifCam_Health.Cam_Internal.OUT.OutHealth.FrontCamera.OUT.Cam_Health END FUNCTION FUNCTION Lidar_Sensor INPUT LidarIn OUTPUT LidarObjectList OUTPUT Lidar_Health FUNCTION Lidar_Internal INPUT InRaw OUTPUT OutTrack OUTPUT OutHealth OIM OutTrack.Object_NotDetected.OR(InRaw.Sensor_Blinded; InRaw.Data_Stale) OIM OutTrack.Object_GhostDetection.InRaw.Sensor_Blinded OIM OutTrack.TTC_Underestimate.InRaw.Sensor_Blinded OIM OutTrack.TTC_Overestimate.InRaw.Data_Stale OIM OutTrack.Data_Stale.InRaw.Data_Stale OIM OutHealth.Warning_Missing.AND(InRaw.Sensor_Blinded; InRaw.Data_Stale) END FUNCTION INT ifLidar_Inner.Lidar_Sensor.IN.LidarIn.Lidar_Internal.IN.InRaw INT ifLidar_Track.Lidar_Internal.OUT.OutTrack.Lidar_Sensor.OUT.LidarObjectList INT ifLidar_Health.Lidar_Internal.OUT.OutHealth.Lidar_Sensor.OUT.Lidar_Health END FUNCTION // ================================================================ // Vehicle State Sources // ================================================================ FUNCTION VehicleSpeedSource INPUT VSp_Raw OUTPUT VSp OIM VSp.Data_Stale.VSp_Raw.Data_Stale OIM VSp.TTC_Underestimate.VSp_Raw.Data_Stale END FUNCTION FUNCTION SteeringAngleSource INPUT SA_Raw OUTPUT SA OIM SA.Data_Stale.SA_Raw.Data_Stale END FUNCTION FUNCTION YawRateSource INPUT YR_Raw OUTPUT YR OIM YR.Data_Stale.YR_Raw.Data_Stale END FUNCTION // ================================================================ // Fusion and Decision Layer // ================================================================ FUNCTION ObjectList_CrossCheck INPUT LRR_In INPUT Cam_In OUTPUT ValidatedList OIM ValidatedList.Object_NotDetected.AND(LRR_In.Object_NotDetected; Cam_In.Object_NotDetected) OIM ValidatedList.Object_GhostDetection.AND(LRR_In.Object_GhostDetection; Cam_In.Object_GhostDetection) OIM ValidatedList.Data_Stale.OR(LRR_In.Data_Stale; Cam_In.Data_Stale) END FUNCTION FUNCTION SensorFusion INPUT LRR_In INPUT SRR_In INPUT Cam_In INPUT Validated_In OUTPUT FusedObjects OIM FusedObjects.Object_NotDetected.AND(LRR_In.Object_NotDetected; SRR_In.Object_NotDetected; Cam_In.Object_NotDetected) OIM FusedObjects.Object_GhostDetection.Validated_In.Object_GhostDetection OIM FusedObjects.TTC_Underestimate.OR(LRR_In.TTC_Underestimate; SRR_In.TTC_Underestimate; Cam_In.TTC_Underestimate) OIM FusedObjects.TTC_Overestimate.AND(LRR_In.TTC_Overestimate; SRR_In.TTC_Overestimate; Cam_In.TTC_Overestimate) OIM FusedObjects.Data_Stale.AND(LRR_In.Data_Stale; SRR_In.Data_Stale; Cam_In.Data_Stale) END FUNCTION FUNCTION SituationClassifier INPUT FusedIn INPUT VSpIn INPUT SAIn OUTPUT SituationClass OIM SituationClass.Object_NotDetected.FusedIn.Object_NotDetected OIM SituationClass.Object_GhostDetection.FusedIn.Object_GhostDetection OIM SituationClass.TTC_Underestimate.OR(FusedIn.TTC_Underestimate; VSpIn.TTC_Underestimate) OIM SituationClass.TTC_Overestimate.FusedIn.TTC_Overestimate OIM SituationClass.Data_Stale.OR(FusedIn.Data_Stale; VSpIn.Data_Stale; SAIn.Data_Stale) END FUNCTION FUNCTION CollisionPredictor INPUT SitIn INPUT LidarIn INPUT YRIn OUTPUT TTC OIM TTC.Object_NotDetected.AND(SitIn.Object_NotDetected; LidarIn.Object_NotDetected) OIM TTC.Object_GhostDetection.AND(SitIn.Object_GhostDetection; LidarIn.Object_GhostDetection) OIM TTC.TTC_Underestimate.OR(SitIn.TTC_Underestimate; LidarIn.TTC_Underestimate) OIM TTC.TTC_Overestimate.AND(SitIn.TTC_Overestimate; LidarIn.TTC_Overestimate) OIM TTC.Data_Stale.OR(SitIn.Data_Stale; YRIn.Data_Stale) END FUNCTION FUNCTION PlausibilityMonitor INPUT TTCIn INPUT VSpIn INPUT YRIn OUTPUT PlausStatus OIM PlausStatus.Warning_Missing.OR(TTCIn.TTC_Overestimate; VSpIn.Data_Stale; YRIn.Data_Stale) OIM PlausStatus.BrakeCmd_Spurious.TTCIn.Object_GhostDetection END FUNCTION // ================================================================ // Arbitration (Dual Channel) // ================================================================ FUNCTION BrakingArbiter_Channel_A INPUT TTCIn INPUT PlausIn INPUT DriverIn INPUT PwrIn INPUT BusIn OUTPUT BrakeReq_A OIM BrakeReq_A.BrakeCmd_Missing.OR(TTCIn.Object_NotDetected; TTCIn.TTC_Overestimate; PwrIn.Power_Lost; BusIn.Bus_Silent; BusIn.Bus_Stuck) OIM BrakeReq_A.BrakeCmd_Spurious.OR(TTCIn.Object_GhostDetection; TTCIn.TTC_Underestimate; PlausIn.BrakeCmd_Spurious) OIM BrakeReq_A.BrakeCmd_Weak.OR(TTCIn.TTC_Overestimate; TTCIn.Data_Stale; PwrIn.Power_Lost) END FUNCTION FUNCTION BrakingArbiter_Channel_B INPUT TTCIn INPUT PlausIn INPUT DriverIn INPUT PwrIn INPUT BusIn OUTPUT BrakeReq_B OIM BrakeReq_B.BrakeCmd_Missing.OR(TTCIn.Object_NotDetected; TTCIn.TTC_Overestimate; PwrIn.Power_Lost; BusIn.Bus_Silent; BusIn.Bus_Stuck) OIM BrakeReq_B.BrakeCmd_Spurious.OR(TTCIn.Object_GhostDetection; TTCIn.TTC_Underestimate; PlausIn.BrakeCmd_Spurious) OIM BrakeReq_B.BrakeCmd_Weak.OR(TTCIn.TTC_Overestimate; TTCIn.Data_Stale; PwrIn.Power_Lost) END FUNCTION FUNCTION Arbiter_Voter INPUT ReqA INPUT ReqB INPUT WdIn OUTPUT VotedCmd OIM VotedCmd.BrakeCmd_Missing.AND(ReqA.BrakeCmd_Missing; ReqB.BrakeCmd_Missing) OIM VotedCmd.BrakeCmd_Spurious.AND(ReqA.BrakeCmd_Spurious; ReqB.BrakeCmd_Spurious) OIM VotedCmd.BrakeCmd_Weak.OR(ReqA.BrakeCmd_Weak; ReqB.BrakeCmd_Weak) OIM VotedCmd.Warning_Missing.WdIn.Warning_Missing END FUNCTION FUNCTION SafetyStateMachine INPUT VotedIn INPUT WdIn INPUT DriverIn OUTPUT SafeCmd OIM SafeCmd.BrakeCmd_Missing.OR(VotedIn.BrakeCmd_Missing; WdIn.Warning_Missing) OIM SafeCmd.BrakeCmd_Spurious.VotedIn.BrakeCmd_Spurious OIM SafeCmd.BrakeCmd_Weak.VotedIn.BrakeCmd_Weak END FUNCTION FUNCTION WatchDog INPUT PwrIn INPUT BusIn OUTPUT WdStatus OIM WdStatus.Warning_Missing.OR(PwrIn.Power_Lost; BusIn.Bus_Silent; BusIn.Bus_Stuck) END FUNCTION // ================================================================ // Actuation (Three Redundant Brake Paths) // ================================================================ FUNCTION BrakeBoosterMonitor INPUT PwrIn OUTPUT BoosterStatus OIM BoosterStatus.Warning_Missing.PwrIn.Power_Lost OIM BoosterStatus.BrakeCmd_Weak.PwrIn.Power_Lost END FUNCTION FUNCTION ESC_Interface INPUT SafeIn INPUT BoosterIn INPUT PwrIn INPUT BusIn OUTPUT EscOut OIM EscOut.BrakeCmd_Missing.OR(SafeIn.BrakeCmd_Missing; PwrIn.Power_Lost; BusIn.Bus_Silent; BusIn.Bus_Stuck) OIM EscOut.BrakeCmd_Spurious.SafeIn.BrakeCmd_Spurious OIM EscOut.BrakeCmd_Weak.OR(SafeIn.BrakeCmd_Weak; BoosterIn.BrakeCmd_Weak; BoosterIn.Warning_Missing) END FUNCTION FUNCTION IBS_Interface INPUT SafeIn INPUT PwrIn INPUT BusIn OUTPUT IbsOut OIM IbsOut.BrakeCmd_Missing.OR(SafeIn.BrakeCmd_Missing; PwrIn.Power_Lost; BusIn.Bus_Silent; BusIn.Bus_Stuck) OIM IbsOut.BrakeCmd_Spurious.SafeIn.BrakeCmd_Spurious OIM IbsOut.BrakeCmd_Weak.SafeIn.BrakeCmd_Weak END FUNCTION FUNCTION EPB_Interface INPUT SafeIn INPUT PwrIn OUTPUT EpbOut OIM EpbOut.BrakeCmd_Missing.OR(SafeIn.BrakeCmd_Missing; PwrIn.Power_Lost) OIM EpbOut.BrakeCmd_Weak.SafeIn.BrakeCmd_Weak END FUNCTION // ================================================================ // Driver Interaction // ================================================================ FUNCTION DriverMonitor INPUT DriverBrakeIn OUTPUT DriverStatus OIM DriverStatus.BrakeCmd_Spurious.DriverBrakeIn.BrakeCmd_Missing OIM DriverStatus.Warning_Missing.DriverBrakeIn.BrakeCmd_Missing END FUNCTION FUNCTION WarningCoordinator INPUT SafeIn INPUT WdIn INPUT PwrIn OUTPUT WarnVisual OUTPUT WarnAcoustic OIM WarnVisual.Warning_Missing.OR(SafeIn.BrakeCmd_Missing; WdIn.Warning_Missing; PwrIn.Power_Lost) OIM WarnAcoustic.Warning_Missing.OR(SafeIn.BrakeCmd_Missing; WdIn.Warning_Missing; PwrIn.Power_Lost) END FUNCTION FUNCTION HMI_Display INPUT WarnIn INPUT PwrIn OUTPUT HmiVisual OIM HmiVisual.Warning_Missing.OR(WarnIn.Warning_Missing; PwrIn.Power_Lost) END FUNCTION // ================================================================ // Infrastructure (Power & Bus) // ================================================================ FUNCTION PowerSupplyUnit_A INPUT PwrInA OUTPUT PwrOutA OIM PwrOutA.Power_Lost.PwrInA.Power_Lost END FUNCTION FUNCTION PowerSupplyUnit_B INPUT PwrInB OUTPUT PwrOutB OIM PwrOutB.Power_Lost.PwrInB.Power_Lost END FUNCTION FUNCTION CANController_A INPUT BusInA INPUT PwrIn OUTPUT BusOutA OIM BusOutA.Bus_Silent.OR(BusInA.Bus_Silent; PwrIn.Power_Lost) OIM BusOutA.Bus_Stuck.BusInA.Bus_Stuck OIM BusOutA.Data_Stale.BusInA.Data_Stale END FUNCTION FUNCTION CANController_B INPUT BusInB INPUT PwrIn OUTPUT BusOutB OIM BusOutB.Bus_Silent.OR(BusInB.Bus_Silent; PwrIn.Power_Lost) OIM BusOutB.Bus_Stuck.BusInB.Bus_Stuck OIM BusOutB.Data_Stale.BusInB.Data_Stale END FUNCTION // ================================================================ // Signal Interfaces (INT) // ================================================================ // Sensor inputs from AEB boundary to sensors INT ifLRRIn.AEB.IN.RadarRaw_LRR.LRR_Sensor.IN.RadarIn INT ifSRRIn.AEB.IN.RadarRaw_SRR.SRR_Sensor.IN.RadarIn INT ifCamIn.AEB.IN.CameraRaw.FrontCamera.IN.CamIn INT ifCamLight.AEB.IN.AmbientLight.FrontCamera.IN.Light INT ifLidarIn.AEB.IN.LidarRaw.Lidar_Sensor.IN.LidarIn // Vehicle state source feeds INT ifVSpIn.AEB.IN.VehicleSpeed_Raw.VehicleSpeedSource.IN.VSp_Raw INT ifSAIn.AEB.IN.SteeringAngle_Raw.SteeringAngleSource.IN.SA_Raw INT ifYRIn.AEB.IN.YawRate_Raw.YawRateSource.IN.YR_Raw // Power feeds from boundary to PSUs INT ifPwrA_In.AEB.IN.PwrFeed_A.PowerSupplyUnit_A.IN.PwrInA INT ifPwrB_In.AEB.IN.PwrFeed_B.PowerSupplyUnit_B.IN.PwrInB // Bus feeds from boundary to CAN controllers INT ifBusA_In.AEB.IN.CAN_A_Traffic.CANController_A.IN.BusInA INT ifBusB_In.AEB.IN.CAN_B_Traffic.CANController_B.IN.BusInB INT ifBusA_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.CANController_A.IN.PwrIn INT ifBusB_Pwr.PowerSupplyUnit_B.OUT.PwrOutB.CANController_B.IN.PwrIn // Driver interaction INT ifDriverIn.AEB.IN.DriverOverride_BrakePedal.DriverMonitor.IN.DriverBrakeIn // Cross-check: LRR + Camera go into ObjectList_CrossCheck INT ifCC_LRR.LRR_Sensor.OUT.RadarObjectList.ObjectList_CrossCheck.IN.LRR_In INT ifCC_Cam.FrontCamera.OUT.VisualObjectList.ObjectList_CrossCheck.IN.Cam_In // Sensor fusion inputs INT ifSF_LRR.LRR_Sensor.OUT.RadarObjectList.SensorFusion.IN.LRR_In INT ifSF_SRR.SRR_Sensor.OUT.SRRObjectList.SensorFusion.IN.SRR_In INT ifSF_Cam.FrontCamera.OUT.VisualObjectList.SensorFusion.IN.Cam_In INT ifSF_Val.ObjectList_CrossCheck.OUT.ValidatedList.SensorFusion.IN.Validated_In // SituationClassifier inputs INT ifSC_Fused.SensorFusion.OUT.FusedObjects.SituationClassifier.IN.FusedIn INT ifSC_VSp.VehicleSpeedSource.OUT.VSp.SituationClassifier.IN.VSpIn INT ifSC_SA.SteeringAngleSource.OUT.SA.SituationClassifier.IN.SAIn // CollisionPredictor inputs INT ifCP_Sit.SituationClassifier.OUT.SituationClass.CollisionPredictor.IN.SitIn INT ifCP_Lidar.Lidar_Sensor.OUT.LidarObjectList.CollisionPredictor.IN.LidarIn INT ifCP_YR.YawRateSource.OUT.YR.CollisionPredictor.IN.YRIn // Plausibility monitor INT ifPM_TTC.CollisionPredictor.OUT.TTC.PlausibilityMonitor.IN.TTCIn INT ifPM_VSp.VehicleSpeedSource.OUT.VSp.PlausibilityMonitor.IN.VSpIn INT ifPM_YR.YawRateSource.OUT.YR.PlausibilityMonitor.IN.YRIn // Arbiter channel A inputs INT ifAA_TTC.CollisionPredictor.OUT.TTC.BrakingArbiter_Channel_A.IN.TTCIn INT ifAA_Plaus.PlausibilityMonitor.OUT.PlausStatus.BrakingArbiter_Channel_A.IN.PlausIn INT ifAA_Drv.DriverMonitor.OUT.DriverStatus.BrakingArbiter_Channel_A.IN.DriverIn INT ifAA_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.BrakingArbiter_Channel_A.IN.PwrIn INT ifAA_Bus.CANController_A.OUT.BusOutA.BrakingArbiter_Channel_A.IN.BusIn // Arbiter channel B inputs INT ifAB_TTC.CollisionPredictor.OUT.TTC.BrakingArbiter_Channel_B.IN.TTCIn INT ifAB_Plaus.PlausibilityMonitor.OUT.PlausStatus.BrakingArbiter_Channel_B.IN.PlausIn INT ifAB_Drv.DriverMonitor.OUT.DriverStatus.BrakingArbiter_Channel_B.IN.DriverIn INT ifAB_Pwr.PowerSupplyUnit_B.OUT.PwrOutB.BrakingArbiter_Channel_B.IN.PwrIn INT ifAB_Bus.CANController_B.OUT.BusOutB.BrakingArbiter_Channel_B.IN.BusIn // Watchdog INT ifWD_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.WatchDog.IN.PwrIn INT ifWD_Bus.CANController_A.OUT.BusOutA.WatchDog.IN.BusIn // Voter INT ifV_A.BrakingArbiter_Channel_A.OUT.BrakeReq_A.Arbiter_Voter.IN.ReqA INT ifV_B.BrakingArbiter_Channel_B.OUT.BrakeReq_B.Arbiter_Voter.IN.ReqB INT ifV_Wd.WatchDog.OUT.WdStatus.Arbiter_Voter.IN.WdIn // Safety state machine INT ifSSM_Voted.Arbiter_Voter.OUT.VotedCmd.SafetyStateMachine.IN.VotedIn INT ifSSM_Wd.WatchDog.OUT.WdStatus.SafetyStateMachine.IN.WdIn INT ifSSM_Drv.DriverMonitor.OUT.DriverStatus.SafetyStateMachine.IN.DriverIn // Booster monitor INT ifBBM_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.BrakeBoosterMonitor.IN.PwrIn // ESC interface INT ifESC_Safe.SafetyStateMachine.OUT.SafeCmd.ESC_Interface.IN.SafeIn INT ifESC_Boost.BrakeBoosterMonitor.OUT.BoosterStatus.ESC_Interface.IN.BoosterIn INT ifESC_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.ESC_Interface.IN.PwrIn INT ifESC_Bus.CANController_A.OUT.BusOutA.ESC_Interface.IN.BusIn // IBS interface INT ifIBS_Safe.SafetyStateMachine.OUT.SafeCmd.IBS_Interface.IN.SafeIn INT ifIBS_Pwr.PowerSupplyUnit_B.OUT.PwrOutB.IBS_Interface.IN.PwrIn INT ifIBS_Bus.CANController_B.OUT.BusOutB.IBS_Interface.IN.BusIn // EPB interface INT ifEPB_Safe.SafetyStateMachine.OUT.SafeCmd.EPB_Interface.IN.SafeIn INT ifEPB_Pwr.PowerSupplyUnit_B.OUT.PwrOutB.EPB_Interface.IN.PwrIn // Warning coordinator INT ifWC_Safe.SafetyStateMachine.OUT.SafeCmd.WarningCoordinator.IN.SafeIn INT ifWC_Wd.WatchDog.OUT.WdStatus.WarningCoordinator.IN.WdIn INT ifWC_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.WarningCoordinator.IN.PwrIn // HMI INT ifHMI_Warn.WarningCoordinator.OUT.WarnVisual.HMI_Display.IN.WarnIn INT ifHMI_Pwr.PowerSupplyUnit_A.OUT.PwrOutA.HMI_Display.IN.PwrIn // Top-level outputs INT ifOutESC.ESC_Interface.OUT.EscOut.AEB.OUT.BrakeCmd_ESC INT ifOutIBS.IBS_Interface.OUT.IbsOut.AEB.OUT.BrakeCmd_IBS INT ifOutEPB.EPB_Interface.OUT.EpbOut.AEB.OUT.BrakeCmd_EPB INT ifOutSteer.SafetyStateMachine.OUT.SafeCmd.AEB.OUT.SteeringCmd_Evasive INT ifOutWV.WarningCoordinator.OUT.WarnVisual.AEB.OUT.Warning_Visual INT ifOutWA.WarningCoordinator.OUT.WarnAcoustic.AEB.OUT.Warning_Acoustic // ================================================================ // Top Level Event // ================================================================ TLE CollisionNotAvoided.OR(AND(BrakeCmd_ESC.BrakeCmd_Missing; BrakeCmd_IBS.BrakeCmd_Missing); AND(BrakeCmd_ESC.BrakeCmd_Missing; BrakeCmd_IBS.BrakeCmd_Weak; BrakeCmd_EPB.BrakeCmd_Missing); AND(BrakeCmd_ESC.BrakeCmd_Weak; BrakeCmd_IBS.BrakeCmd_Weak)) END FUNCTION // ============================================================ // Fehlerraten // ISF: Normalverteilung mu=1.0e-6, sigma=2.5e-7, clamp [3e-7, 2e-6] // SF: Normalverteilung mu=2.5e-7, sigma=1.375e-7, clamp [5e-8, 5e-7] // TF: Normalverteilung mu=5.0e-8, sigma=1.5e-8, clamp [1e-8, 1e-7] // ============================================================ // --- ISF (external inputs at AEB boundary) --- ISF AEB.RadarRaw_LRR.Sensor_Blinded 1.1842e-06 ISF AEB.RadarRaw_LRR.Data_Stale 9.0312e-07 ISF AEB.RadarRaw_SRR.Sensor_Blinded 1.0573e-06 ISF AEB.RadarRaw_SRR.Data_Stale 8.4219e-07 ISF AEB.CameraRaw.Sensor_Blinded 1.3921e-06 ISF AEB.CameraRaw.Data_Stale 7.6108e-07 ISF AEB.LidarRaw.Sensor_Blinded 1.2466e-06 ISF AEB.LidarRaw.Data_Stale 9.7853e-07 ISF AEB.VehicleSpeed_Raw.Data_Stale 1.0098e-06 ISF AEB.SteeringAngle_Raw.Data_Stale 8.8765e-07 ISF AEB.YawRate_Raw.Data_Stale 1.1314e-06 ISF AEB.AmbientLight.Sensor_Blinded 1.4572e-06 ISF AEB.PwrFeed_A.Power_Lost 7.2043e-07 ISF AEB.PwrFeed_B.Power_Lost 6.8711e-07 ISF AEB.DriverOverride_BrakePedal.BrakeCmd_Missing 1.2087e-06 ISF AEB.CAN_A_Traffic.Bus_Silent 9.5437e-07 ISF AEB.CAN_A_Traffic.Bus_Stuck 7.8226e-07 ISF AEB.CAN_A_Traffic.Data_Stale 1.0915e-06 ISF AEB.CAN_B_Traffic.Bus_Silent 9.1082e-07 ISF AEB.CAN_B_Traffic.Bus_Stuck 8.2577e-07 ISF AEB.CAN_B_Traffic.Data_Stale 1.0253e-06 // --- SF (systemic faults of subfunctions) --- SF LRR_Internal.OutTrack.Object_NotDetected 2.5187e-07 SF LRR_Internal.OutTrack.Object_GhostDetection 1.9844e-07 SF LRR_Internal.OutTrack.TTC_Underestimate 2.8721e-07 SF LRR_Internal.OutTrack.TTC_Overestimate 3.1065e-07 SF LRR_Internal.OutTrack.Data_Stale 2.1933e-07 SF LRR_Internal.OutHealth.Warning_Missing 1.7528e-07 SF SRR_Internal.OutTrack.Object_NotDetected 2.6914e-07 SF SRR_Internal.OutTrack.Object_GhostDetection 2.0276e-07 SF SRR_Internal.OutTrack.TTC_Underestimate 2.4458e-07 SF SRR_Internal.OutTrack.TTC_Overestimate 3.3102e-07 SF SRR_Internal.OutTrack.Data_Stale 1.8349e-07 SF SRR_Internal.OutHealth.Warning_Missing 1.6821e-07 SF Cam_Internal.OutTrack.Object_NotDetected 2.7385e-07 SF Cam_Internal.OutTrack.Object_GhostDetection 3.1744e-07 SF Cam_Internal.OutTrack.TTC_Underestimate 2.3108e-07 SF Cam_Internal.OutTrack.TTC_Overestimate 2.5993e-07 SF Cam_Internal.OutTrack.Data_Stale 1.9765e-07 SF Cam_Internal.OutLanes.Object_NotDetected 2.2148e-07 SF Cam_Internal.OutHealth.Warning_Missing 1.5632e-07 SF Lidar_Internal.OutTrack.Object_NotDetected 2.3467e-07 SF Lidar_Internal.OutTrack.Object_GhostDetection 2.0981e-07 SF Lidar_Internal.OutTrack.TTC_Underestimate 2.6543e-07 SF Lidar_Internal.OutTrack.TTC_Overestimate 3.0187e-07 SF Lidar_Internal.OutTrack.Data_Stale 2.1068e-07 SF Lidar_Internal.OutHealth.Warning_Missing 1.6114e-07 SF VehicleSpeedSource.VSp.Data_Stale 2.4876e-07 SF VehicleSpeedSource.VSp.TTC_Underestimate 2.9315e-07 SF SteeringAngleSource.SA.Data_Stale 2.2794e-07 SF YawRateSource.YR.Data_Stale 2.5681e-07 SF ObjectList_CrossCheck.ValidatedList.Object_NotDetected 1.8123e-07 SF ObjectList_CrossCheck.ValidatedList.Object_GhostDetection 1.4876e-07 SF ObjectList_CrossCheck.ValidatedList.Data_Stale 1.7391e-07 SF SensorFusion.FusedObjects.Object_NotDetected 2.0732e-07 SF SensorFusion.FusedObjects.Object_GhostDetection 2.1918e-07 SF SensorFusion.FusedObjects.TTC_Underestimate 2.3284e-07 SF SensorFusion.FusedObjects.TTC_Overestimate 2.6471e-07 SF SensorFusion.FusedObjects.Data_Stale 1.9208e-07 SF SituationClassifier.SituationClass.Object_NotDetected 2.0114e-07 SF SituationClassifier.SituationClass.Object_GhostDetection 1.9672e-07 SF SituationClassifier.SituationClass.TTC_Underestimate 2.4203e-07 SF SituationClassifier.SituationClass.TTC_Overestimate 2.7588e-07 SF SituationClassifier.SituationClass.Data_Stale 2.1847e-07 SF CollisionPredictor.TTC.Object_NotDetected 2.3561e-07 SF CollisionPredictor.TTC.Object_GhostDetection 2.1284e-07 SF CollisionPredictor.TTC.TTC_Underestimate 2.8916e-07 SF CollisionPredictor.TTC.TTC_Overestimate 3.2047e-07 SF CollisionPredictor.TTC.Data_Stale 2.0512e-07 SF PlausibilityMonitor.PlausStatus.Warning_Missing 1.8766e-07 SF PlausibilityMonitor.PlausStatus.BrakeCmd_Spurious 1.6338e-07 SF BrakingArbiter_Channel_A.BrakeReq_A.BrakeCmd_Missing 2.5823e-07 SF BrakingArbiter_Channel_A.BrakeReq_A.BrakeCmd_Spurious 2.1194e-07 SF BrakingArbiter_Channel_A.BrakeReq_A.BrakeCmd_Weak 2.3981e-07 SF BrakingArbiter_Channel_B.BrakeReq_B.BrakeCmd_Missing 2.4725e-07 SF BrakingArbiter_Channel_B.BrakeReq_B.BrakeCmd_Spurious 2.0847e-07 SF BrakingArbiter_Channel_B.BrakeReq_B.BrakeCmd_Weak 2.5117e-07 SF Arbiter_Voter.VotedCmd.BrakeCmd_Missing 1.8132e-07 SF Arbiter_Voter.VotedCmd.BrakeCmd_Spurious 1.6947e-07 SF Arbiter_Voter.VotedCmd.BrakeCmd_Weak 2.0218e-07 SF Arbiter_Voter.VotedCmd.Warning_Missing 1.5543e-07 SF SafetyStateMachine.SafeCmd.BrakeCmd_Missing 2.2684e-07 SF SafetyStateMachine.SafeCmd.BrakeCmd_Spurious 1.9423e-07 SF SafetyStateMachine.SafeCmd.BrakeCmd_Weak 2.1067e-07 SF WatchDog.WdStatus.Warning_Missing 1.7248e-07 SF BrakeBoosterMonitor.BoosterStatus.Warning_Missing 1.8935e-07 SF BrakeBoosterMonitor.BoosterStatus.BrakeCmd_Weak 2.4318e-07 SF ESC_Interface.EscOut.BrakeCmd_Missing 2.7102e-07 SF ESC_Interface.EscOut.BrakeCmd_Spurious 2.3589e-07 SF ESC_Interface.EscOut.BrakeCmd_Weak 2.8874e-07 SF IBS_Interface.IbsOut.BrakeCmd_Missing 2.6318e-07 SF IBS_Interface.IbsOut.BrakeCmd_Spurious 2.2146e-07 SF IBS_Interface.IbsOut.BrakeCmd_Weak 2.7415e-07 SF EPB_Interface.EpbOut.BrakeCmd_Missing 2.4931e-07 SF EPB_Interface.EpbOut.BrakeCmd_Weak 2.6122e-07 SF DriverMonitor.DriverStatus.BrakeCmd_Spurious 1.7584e-07 SF DriverMonitor.DriverStatus.Warning_Missing 1.6277e-07 SF WarningCoordinator.WarnVisual.Warning_Missing 1.8449e-07 SF WarningCoordinator.WarnAcoustic.Warning_Missing 1.7812e-07 SF HMI_Display.HmiVisual.Warning_Missing 1.5908e-07 SF PowerSupplyUnit_A.PwrOutA.Power_Lost 3.1277e-07 SF PowerSupplyUnit_B.PwrOutB.Power_Lost 3.2148e-07 SF CANController_A.BusOutA.Bus_Silent 2.4521e-07 SF CANController_A.BusOutA.Bus_Stuck 2.1834e-07 SF CANController_A.BusOutA.Data_Stale 1.9245e-07 SF CANController_B.BusOutB.Bus_Silent 2.5107e-07 SF CANController_B.BusOutB.Bus_Stuck 2.2768e-07 SF CANController_B.BusOutB.Data_Stale 1.8916e-07 // --- TF (transfer faults on INT interfaces) --- TF ifLRRIn.Sensor_Blinded 5.1267e-08 TF ifLRRIn.Data_Stale 4.8923e-08 TF ifSRRIn.Sensor_Blinded 5.3181e-08 TF ifSRRIn.Data_Stale 4.6712e-08 TF ifCamIn.Sensor_Blinded 5.7405e-08 TF ifCamIn.Data_Stale 5.0238e-08 TF ifCamLight.Sensor_Blinded 4.4856e-08 TF ifLidarIn.Sensor_Blinded 5.8143e-08 TF ifLidarIn.Data_Stale 4.7591e-08 TF ifVSpIn.Data_Stale 4.9782e-08 TF ifSAIn.Data_Stale 5.2464e-08 TF ifYRIn.Data_Stale 5.1019e-08 TF ifPwrA_In.Power_Lost 5.4327e-08 TF ifPwrB_In.Power_Lost 5.5892e-08 TF ifBusA_In.Bus_Silent 5.0473e-08 TF ifBusA_In.Bus_Stuck 4.7128e-08 TF ifBusA_In.Data_Stale 4.9815e-08 TF ifBusB_In.Bus_Silent 5.1724e-08 TF ifBusB_In.Bus_Stuck 4.8596e-08 TF ifBusB_In.Data_Stale 5.0318e-08 TF ifBusA_Pwr.Power_Lost 4.6587e-08 TF ifBusB_Pwr.Power_Lost 4.7238e-08 TF ifDriverIn.BrakeCmd_Missing 5.3417e-08 TF ifCC_LRR.Object_NotDetected 4.8351e-08 TF ifCC_LRR.Object_GhostDetection 5.0182e-08 TF ifCC_LRR.Data_Stale 4.6923e-08 TF ifCC_Cam.Object_NotDetected 4.9518e-08 TF ifCC_Cam.Object_GhostDetection 5.2077e-08 TF ifCC_Cam.Data_Stale 4.7841e-08 TF ifSF_LRR.Object_NotDetected 5.1146e-08 TF ifSF_LRR.TTC_Underestimate 4.8782e-08 TF ifSF_LRR.TTC_Overestimate 5.3293e-08 TF ifSF_LRR.Data_Stale 4.6315e-08 TF ifSF_LRR.Object_GhostDetection 5.0721e-08 TF ifSF_SRR.Object_NotDetected 5.2358e-08 TF ifSF_SRR.TTC_Underestimate 4.9647e-08 TF ifSF_SRR.TTC_Overestimate 5.1882e-08 TF ifSF_SRR.Data_Stale 4.7129e-08 TF ifSF_SRR.Object_GhostDetection 4.8716e-08 TF ifSF_Cam.Object_NotDetected 5.0483e-08 TF ifSF_Cam.TTC_Underestimate 4.7523e-08 TF ifSF_Cam.TTC_Overestimate 5.2941e-08 TF ifSF_Cam.Data_Stale 4.6892e-08 TF ifSF_Cam.Object_GhostDetection 5.1378e-08 TF ifSF_Val.Object_NotDetected 4.8248e-08 TF ifSF_Val.Object_GhostDetection 5.0174e-08 TF ifSF_Val.Data_Stale 4.7658e-08 TF ifSC_Fused.Object_NotDetected 5.1983e-08 TF ifSC_Fused.Object_GhostDetection 4.9218e-08 TF ifSC_Fused.TTC_Underestimate 5.0547e-08 TF ifSC_Fused.TTC_Overestimate 5.3712e-08 TF ifSC_Fused.Data_Stale 4.8126e-08 TF ifSC_VSp.Data_Stale 4.7483e-08 TF ifSC_VSp.TTC_Underestimate 5.1062e-08 TF ifSC_SA.Data_Stale 4.9247e-08 TF ifCP_Sit.Object_NotDetected 5.0835e-08 TF ifCP_Sit.Object_GhostDetection 4.8561e-08 TF ifCP_Sit.TTC_Underestimate 5.2247e-08 TF ifCP_Sit.TTC_Overestimate 5.3819e-08 TF ifCP_Sit.Data_Stale 4.6741e-08 TF ifCP_Lidar.Object_NotDetected 4.9178e-08 TF ifCP_Lidar.Object_GhostDetection 5.1386e-08 TF ifCP_Lidar.TTC_Underestimate 4.8247e-08 TF ifCP_Lidar.TTC_Overestimate 5.2614e-08 TF ifCP_Lidar.Data_Stale 4.7315e-08 TF ifCP_YR.Data_Stale 4.8926e-08 TF ifPM_TTC.TTC_Overestimate 5.1547e-08 TF ifPM_TTC.Object_GhostDetection 4.9823e-08 TF ifPM_VSp.Data_Stale 4.7248e-08 TF ifPM_YR.Data_Stale 4.8578e-08 TF ifAA_TTC.Object_NotDetected 5.0247e-08 TF ifAA_TTC.Object_GhostDetection 4.8918e-08 TF ifAA_TTC.TTC_Underestimate 5.2183e-08 TF ifAA_TTC.TTC_Overestimate 5.3478e-08 TF ifAA_TTC.Data_Stale 4.7612e-08 TF ifAA_Plaus.BrakeCmd_Spurious 4.9263e-08 TF ifAA_Plaus.Warning_Missing 4.8371e-08 TF ifAA_Drv.BrakeCmd_Spurious 5.0127e-08 TF ifAA_Drv.Warning_Missing 4.7892e-08 TF ifAA_Pwr.Power_Lost 5.2418e-08 TF ifAA_Bus.Bus_Silent 4.9137e-08 TF ifAA_Bus.Bus_Stuck 4.8294e-08 TF ifAB_TTC.Object_NotDetected 5.1172e-08 TF ifAB_TTC.Object_GhostDetection 4.9482e-08 TF ifAB_TTC.TTC_Underestimate 5.2348e-08 TF ifAB_TTC.TTC_Overestimate 5.3814e-08 TF ifAB_TTC.Data_Stale 4.7247e-08 TF ifAB_Plaus.BrakeCmd_Spurious 4.8945e-08 TF ifAB_Plaus.Warning_Missing 4.7283e-08 TF ifAB_Drv.BrakeCmd_Spurious 5.0618e-08 TF ifAB_Drv.Warning_Missing 4.8127e-08 TF ifAB_Pwr.Power_Lost 5.3218e-08 TF ifAB_Bus.Bus_Silent 4.9472e-08 TF ifAB_Bus.Bus_Stuck 4.8637e-08 TF ifWD_Pwr.Power_Lost 5.1058e-08 TF ifWD_Bus.Bus_Silent 4.9185e-08 TF ifWD_Bus.Bus_Stuck 4.7824e-08 TF ifV_A.BrakeCmd_Missing 5.0268e-08 TF ifV_A.BrakeCmd_Spurious 4.8917e-08 TF ifV_A.BrakeCmd_Weak 5.1832e-08 TF ifV_B.BrakeCmd_Missing 5.0628e-08 TF ifV_B.BrakeCmd_Spurious 4.9274e-08 TF ifV_B.BrakeCmd_Weak 5.2148e-08 TF ifV_Wd.Warning_Missing 4.7481e-08 TF ifSSM_Voted.BrakeCmd_Missing 5.0817e-08 TF ifSSM_Voted.BrakeCmd_Spurious 4.8274e-08 TF ifSSM_Voted.BrakeCmd_Weak 5.1612e-08 TF ifSSM_Wd.Warning_Missing 4.7236e-08 TF ifSSM_Drv.BrakeCmd_Spurious 4.8924e-08 TF ifSSM_Drv.Warning_Missing 4.7417e-08 TF ifBBM_Pwr.Power_Lost 5.1423e-08 TF ifESC_Safe.BrakeCmd_Missing 5.2138e-08 TF ifESC_Safe.BrakeCmd_Spurious 4.9128e-08 TF ifESC_Safe.BrakeCmd_Weak 5.1648e-08 TF ifESC_Boost.BrakeCmd_Weak 4.8712e-08 TF ifESC_Boost.Warning_Missing 4.7251e-08 TF ifESC_Pwr.Power_Lost 5.2417e-08 TF ifESC_Bus.Bus_Silent 4.9382e-08 TF ifESC_Bus.Bus_Stuck 4.8296e-08 TF ifIBS_Safe.BrakeCmd_Missing 5.1872e-08 TF ifIBS_Safe.BrakeCmd_Spurious 4.8928e-08 TF ifIBS_Safe.BrakeCmd_Weak 5.1428e-08 TF ifIBS_Pwr.Power_Lost 5.2846e-08 TF ifIBS_Bus.Bus_Silent 4.9618e-08 TF ifIBS_Bus.Bus_Stuck 4.8528e-08 TF ifEPB_Safe.BrakeCmd_Missing 5.0947e-08 TF ifEPB_Safe.BrakeCmd_Weak 5.1284e-08 TF ifEPB_Pwr.Power_Lost 5.2218e-08 TF ifWC_Safe.BrakeCmd_Missing 5.0637e-08 TF ifWC_Wd.Warning_Missing 4.7819e-08 TF ifWC_Pwr.Power_Lost 5.1994e-08 TF ifHMI_Warn.Warning_Missing 4.8268e-08 TF ifHMI_Pwr.Power_Lost 5.2184e-08 TF ifOutESC.BrakeCmd_Missing 5.1073e-08 TF ifOutESC.BrakeCmd_Spurious 4.8912e-08 TF ifOutESC.BrakeCmd_Weak 5.1847e-08 TF ifOutIBS.BrakeCmd_Missing 5.0641e-08 TF ifOutIBS.BrakeCmd_Spurious 4.8527e-08 TF ifOutIBS.BrakeCmd_Weak 5.1283e-08 TF ifOutEPB.BrakeCmd_Missing 5.0437e-08 TF ifOutEPB.BrakeCmd_Weak 5.1842e-08 TF ifOutSteer.BrakeCmd_Missing 5.0218e-08 TF ifOutSteer.BrakeCmd_Spurious 4.8617e-08 TF ifOutSteer.BrakeCmd_Weak 5.1528e-08 TF ifOutWV.Warning_Missing 4.7312e-08 TF ifOutWA.Warning_Missing 4.7648e-08 TF ifLRR_Inner.Sensor_Blinded 5.0472e-08 TF ifLRR_Inner.Data_Stale 4.8137e-08 TF ifLRR_Track.Object_NotDetected 5.1238e-08 TF ifLRR_Track.Object_GhostDetection 4.8612e-08 TF ifLRR_Track.TTC_Underestimate 5.0924e-08 TF ifLRR_Track.TTC_Overestimate 5.2637e-08 TF ifLRR_Track.Data_Stale 4.7218e-08 TF ifLRR_Health.Warning_Missing 4.7821e-08 TF ifSRR_Inner.Sensor_Blinded 5.0657e-08 TF ifSRR_Inner.Data_Stale 4.8283e-08 TF ifSRR_Track.Object_NotDetected 5.1427e-08 TF ifSRR_Track.Object_GhostDetection 4.8936e-08 TF ifSRR_Track.TTC_Underestimate 5.0784e-08 TF ifSRR_Track.TTC_Overestimate 5.2439e-08 TF ifSRR_Track.Data_Stale 4.7346e-08 TF ifSRR_Health.Warning_Missing 4.7918e-08 TF ifCam_Inner1.Sensor_Blinded 5.0921e-08 TF ifCam_Inner1.Data_Stale 4.8573e-08 TF ifCam_Inner2.Sensor_Blinded 4.8149e-08 TF ifCam_Track.Object_NotDetected 5.1638e-08 TF ifCam_Track.Object_GhostDetection 4.8956e-08 TF ifCam_Track.TTC_Underestimate 5.0481e-08 TF ifCam_Track.TTC_Overestimate 5.2163e-08 TF ifCam_Track.Data_Stale 4.7521e-08 TF ifCam_Lanes.Object_NotDetected 4.9237e-08 TF ifCam_Health.Warning_Missing 4.7983e-08 TF ifLidar_Inner.Sensor_Blinded 5.0718e-08 TF ifLidar_Inner.Data_Stale 4.8321e-08 TF ifLidar_Track.Object_NotDetected 5.1562e-08 TF ifLidar_Track.Object_GhostDetection 4.8721e-08 TF ifLidar_Track.TTC_Underestimate 5.0867e-08 TF ifLidar_Track.TTC_Overestimate 5.2278e-08 TF ifLidar_Track.Data_Stale 4.7418e-08 TF ifLidar_Health.Warning_Missing 4.7827e-08