The Safety Shell: an Architecture to Handle Functional Insufficiencies in Automated Driving.

To enable highly automated vehicles where the driver is no longer a safety backup, the vehicle must deal with various Functional Insufficiencies (FIs). Thus-far, there is no widely accepted functional architecture that maximizes the availability of autonomy and ensures safety in complex vehicle operational design domains. In this paper, we present a survey of existing methods that strive to prevent or handle FIs. We observe that current design-time methods of preventing FIs lack completeness guarantees. Complementary solutions for on-line handling cannot suitably increase safety without seriously impacting availability of journey continuing autonomous functionality. To fill this gap, we propose the Safety Shell, a scalable multi-channel architecture and arbitration design, built upon preexisting functional safety redundant channel architectures. We compare this novel approach to existing architectures using numerical case studies. The results show that the Safety Shell architecture allows the automated vehicle to be as safe or safer compared to alternatives, while simultaneously improving availability of vehicle autonomy, thereby increasing the possible coverage of on-line functional insufficiency handling.