Approach to Maintain a Safe State of an Automated Vehicle in Case of Unsafe Desired Behavior

For automated driving, higher levels of automation pose new challenges in terms of safety. In this paper, we develop a generic behavior safety framework that maintains a safe vehicle state even in case of system failures. It is applicable to different configurations of automated driving system architectures. We verify the designed generic behavior safety framework by applying it to two different architectures from both projects PRORETA 5 and UNICARagil. The previously defined safety requirements are met with both applications, which indicates that the developed generic safety framework is also valid for other configurations of automated driving systems.