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。
System Safety Analysis of Unmanned Ground Vehicles Based on STPA Method and Bow-Tie Model
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.
unmanned ground vehicleautonomous safetysystem-theoretic process analysisBow-Tie modelactive and passive safety control measures
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