System Safety Analysis of Unmanned Ground Vehicles Based on STPA Method and Bow-Tie Model

doi:10.12382/bgxb.2024.0871

Abstract

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

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.

Figures/Tables 9

Fig.1 Safety analysis process of STPA method

Fig.2 Schematic diagram of the Bow-Tie model

Fig.3 System feedback control loop

Fig.4 Control structure modeling of machine learning model

Fig.5 Active and passive safety control strategy

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

Fig.7 FTA of vehicle roll angle offset

Fig.8 ETA of vehicle roll angle offset

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

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