基于STPA和Bow-Tie模型的地面无人平台系统安全分析方法

doi:10.12382/bgxb.2024.0871

摘要/Abstract

摘要：

随着地面无人平台(Unmanned Ground Vehicles,UGVs)在复杂作业环境中的潜在应用和战略价值日益凸显,确保其自主行为的安全性变得至关重要。提出一种结合系统理论过程分析(System-Theoretic Process Analysis,STPA)和Bow-Tie模型的地面无人平台系统安全分析方法。围绕遥控操作地面无人平台系统安全,通过STPA方法识别UGV系统中的不安全控制行为及其潜在风险,并利用Bow-Tie模型分析从损失致因场景到可能事故后果的事件链,得到风险传播路径和风险扩散路径。最终,基于Bow-Tie分析结果确定主被动安全分级控制措施,并通过自主安全控制器实现了系统安全管理。

关键词: 地面无人平台, 自主安全, 系统理论过程分析, Bow-Tie, 主被动安全控制措施

Abstract:

As the potential applications and strategic value of unmanned ground vehicles(UGVs)in complex operational environments become increasingly prominent,the safety of their autonomous actions is of paramount importance.This paper proposes a system safety analysis method for UGV,which combines the system-theoretic process analysis(STPA)method and the Bow-Tie model.Focusing on the safety of teleoperated UGVs,the STPA method is utilized to identify the unsafe control actions(UCAs)within the UGV system and their associated latent risks.Subsequently,the Bow-Tie model is utilized to analyze the event chain from loss causation scenarios to potential accident consequences,thereby delineating the risk propagation and diffusion pathways.Ultimately,the active and passive safety stratified control measures are determined based on the Bow-Tie analysis,and the system safety management is realized through an autonomous safety controller.

Key words: unmanned ground vehicle, autonomous safety, system-theoretic process analysis, Bow-Tie model, active and passive safety control measures

肖扬, 苏波, 纪超, 杨德真, 周桐. 基于STPA和Bow-Tie模型的地面无人平台系统安全分析方法[J]. 兵工学报, 2024, 45(S2): 153-161.

XIAO Yang, SU Bo, JI Chao, YANG Dezhen, ZHOU Tong. System Safety Analysis of Unmanned Ground Vehicles Based on STPA Method and Bow-Tie Model[J]. Acta Armamentarii, 2024, 45(S2): 153-161.

图/表 9

图1 STPA方法安全分析流程

Fig.1 Safety analysis process of STPA method

图2 Bow-Tie模型原理图

Fig.2 Schematic diagram of the Bow-Tie model

图3 系统反馈控制环

Fig.3 System feedback control loop

图4 机器学习模型控制结构建模

Fig.4 Control structure modeling of machine learning model

图5 主被动安全控制策略

Fig.5 Active and passive safety control strategy

图6 遥控操作地面无人平台控制结构

Fig.6 Control structure of remote-control operation of UGV

图7 车辆侧倾角偏移FTA

Fig.7 FTA of vehicle roll angle offset

图8 车辆侧倾角偏移ETA

Fig.8 ETA of vehicle roll angle offset

图9 车辆侧倾角偏移Bow-Tie

Fig.9 Bow-Tie model of vehicle roll angle offset

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