# Safety Verification and Validation - ISO 26262

Comprehensive guidance on verification and validation per ISO 26262-4, including verification methods, validation test strategies, HIL testing, fault injection, back-to-back testing, traceability matrices, and functional safety assessment.

## Verification vs Validation

### Key Differences

**Verification:** *"Are we building the product right?"*
- Check implementation against requirements
- Performed at each development level
- Methods: review, analysis, test
- Answers: Does code match specification?

**Validation:** *"Are we building the right product?"*
- Check product meets safety goals
- Performed on integrated system
- Methods: testing in target environment
- Answers: Does system prevent hazards?

```
Requirements → [Verification] → Implementation
      ↓
Safety Goals → [Validation] → Final Product
```

## Verification Methods by ASIL

### ISO 26262-8 Table 4 - Verification Methods

| Method | ASIL A | ASIL B | ASIL C | ASIL D |
|--------|--------|--------|--------|--------|
| Walkthrough | + | + | ++ | ++ |
| Inspection | + | ++ | ++ | +++ |
| Semi-formal verification | O | + | ++ | ++ |
| Formal verification | O | O | + | ++ |
| Control flow analysis | + | ++ | ++ | +++ |
| Data flow analysis | + | ++ | ++ | +++ |
| Simulation/prototyping | ++ | ++ | +++ | +++ |
| Requirements-based test | ++ | +++ | +++ | +++ |
| Interface test | ++ | +++ | +++ | +++ |
| Fault injection test | O | + | ++ | +++ |
| Resource usage analysis | + | ++ | +++ | +++ |
| Back-to-back comparison | O | + | ++ | +++ |

Legend: +++ Highly recommended, ++ Recommended, + Optional, O Not recommended

## Requirements Review

### Review Checklist Template

```yaml
review_id: "REV-SWR-ESC-001"
document: "Software Safety Requirements v2.5"
review_type: "Inspection"
asil: "ASIL-D"
date: "2024-03-19"
participants:
  - role: "Moderator"
    name: "J. Smith"
  - role: "Safety Engineer"
    name: "M. Johnson"
  - role: "Software Architect"
    name: "K. Williams"
  - role: "Test Engineer"
    name: "R. Davis"

requirements_quality:
  - criterion: "Unambiguous"
    check: "Each requirement has single interpretation"
    status: "PASS"
    findings: []

  - criterion: "Testable"
    check: "Verification method defined for each requirement"
    status: "PASS"
    findings: []

  - criterion: "Complete"
    check: "All safety goals covered by requirements"
    status: "FAIL"
    findings:
      - finding_id: "F001"
        description: "SG-ESC-003 (response time) not covered by SWR"
        severity: "Critical"
        action: "Add SWR-ESC-045 for timing requirement"
        responsible: "Software Architect"
        due_date: "2024-03-25"

  - criterion: "Consistent"
    check: "No conflicting requirements"
    status: "PASS"
    findings: []

  - criterion: "Traceable"
    check: "Links to TSR and safety goals present"
    status: "PASS"
    findings: []

  - criterion: "Feasible"
    check: "Technically achievable with available resources"
    status: "PASS"
    findings: []

verification_criteria:
  - requirement: "SWR-ESC-001"
    method: "Requirements-based test"
    coverage: "MC/DC"
    status: "Defined"

  - requirement: "SWR-ESC-002"
    method: "Fault injection test"
    coverage: "All fault modes"
    status: "Defined"

summary:
  total_requirements: 44
  passed: 43
  failed: 1
  open_findings: 1
  approval_status: "CONDITIONAL (pending F001 closure)"

next_review: "After F001 resolved (estimated 2024-03-26)"
```

## Static Analysis

### Control Flow Analysis

```c
// Example function for control flow analysis
uint8_t ESC_CalculateControl(float yaw_rate, float lateral_accel) {
    uint8_t control_level = 0;

    // Control flow graph:
    //     Entry
    //       |
    //   Check yaw_rate
    //     /   \
    //   Yes    No
    //    |      |
    // Check    Check
    // lat_acc  lat_acc
    //    |      |
    //   Set    Set
    //   level  level
    //     \   /
    //     Exit

    if (yaw_rate > YAW_THRESHOLD) {
        if (lateral_accel > ACCEL_THRESHOLD) {
            control_level = 3;  // High intervention
        } else {
            control_level = 2;  // Medium intervention
        }
    } else {
        if (lateral_accel > ACCEL_THRESHOLD) {
            control_level = 1;  // Low intervention
        } else {
            control_level = 0;  // No intervention
        }
    }

    return control_level;  // Single exit point (MISRA compliant)
}

// Static analysis checks:
// ✓ No unreachable code
// ✓ Single entry, single exit
// ✓ All paths return a value
// ✓ Cyclomatic complexity: 3 (acceptable for ASIL-D)
// ✓ No recursion
```

### Data Flow Analysis

```c
// Data flow analysis example
typedef struct {
    float wheel_speed_fl;      // Defined at line 5
    float wheel_speed_fr;      // Defined at line 6
    bool valid_fl;             // Defined at line 7
    bool valid_fr;             // Defined at line 8
} SensorData_t;

void ESC_ProcessSensors(SensorData_t *data) {
    float average_speed;  // Declared at line 12

    // Read sensors (define values)
    data->wheel_speed_fl = ReadSensor(SENSOR_FL);  // Line 15: Define wheel_speed_fl
    data->wheel_speed_fr = ReadSensor(SENSOR_FR);  // Line 16: Define wheel_speed_fr

    // Validate sensors (define valid flags)
    data->valid_fl = ValidateSensor(data->wheel_speed_fl);  // Line 19: Use wheel_speed_fl
    data->valid_fr = ValidateSensor(data->wheel_speed_fr);  // Line 20: Use wheel_speed_fr

    // Calculate average (use values)
    if (data->valid_fl && data->valid_fr) {  // Line 23: Use valid_fl, valid_fr
        average_speed = (data->wheel_speed_fl + data->wheel_speed_fr) / 2.0f;
        // Line 24: Use wheel_speed_fl, wheel_speed_fr, Define average_speed
    }

    // Use average (line 28: Use average_speed)
    if (data->valid_fl && data->valid_fr) {  // Condition ensures average_speed is defined
        UseAverageSpeed(average_speed);
    }
}

// Data flow analysis results:
// ✓ No use before definition (all variables initialized before use)
// ✓ No unused variables
// ✓ No redundant assignments
// ✓ Proper initialization of average_speed before use
```

## Requirements-Based Testing

### Test Case Template

```yaml
test_case_id: "TC-SWR-ESC-001-001"
requirement: "SWR-ESC-001.1"
requirement_text: "Software SHALL reject wheel speed < 0 km/h"
test_type: "Unit Test"
asil: "ASIL-D"
test_level: "Software Unit Testing"

preconditions:
  - ESC module initialized
  - Wheel speed sensor interface configured
  - No prior faults

test_inputs:
  - name: "wheel_speed_fl"
    value: -10.0
    unit: "km/h"
  - name: "sensor_status"
    value: "VALID"

expected_outputs:
  - name: "validation_result"
    value: false
    description: "Validation should fail for negative speed"
  - name: "fault_flag"
    value: true
    description: "Fault flag should be set"
  - name: "dtc_code"
    value: "DTC_WHEEL_SPEED_INVALID"

test_procedure:
  - step: 1
    action: "Call ESC_ValidateWheelSpeed(-10.0)"
    expected: "Function returns false"
  - step: 2
    action: "Check fault flag"
    expected: "Fault flag is set"
  - step: 3
    action: "Read DTC buffer"
    expected: "DTC_WHEEL_SPEED_INVALID present"

pass_criteria:
  - All expected outputs match actual outputs
  - No unexpected side effects
  - Function executes within timing budget (< 50 μs)

execution:
  date: "2024-03-19"
  tester: "R. Davis"
  environment: "Unit test framework (Unity)"
  result: "PASS"
  actual_outputs:
    validation_result: false
    fault_flag: true
    dtc_code: "DTC_WHEEL_SPEED_INVALID"
  execution_time_us: 12
  notes: "Test passed on first attempt"

coverage:
  line_coverage: 100%
  branch_coverage: 100%
  mcdc_coverage: 100%
```

## Fault Injection Testing

### Hardware Fault Injection

```c
// Fault injection framework
typedef enum {
    FAULT_NONE,
    FAULT_SENSOR_STUCK_HIGH,
    FAULT_SENSOR_STUCK_LOW,
    FAULT_SENSOR_NOISE,
    FAULT_SENSOR_DROPOUT,
    FAULT_BIT_FLIP,
    FAULT_TIMING_VIOLATION
} FaultType_t;

typedef struct {
    FaultType_t fault_type;
    uint32_t injection_time_ms;
    uint32_t duration_ms;
    void *target_address;
    uint32_t fault_mask;
} FaultInjectionConfig_t;

// Inject sensor stuck-high fault
void InjectFault_SensorStuckHigh(void) {
    FaultInjectionConfig_t config = {
        .fault_type = FAULT_SENSOR_STUCK_HIGH,
        .injection_time_ms = 1000,  // Inject after 1 second
        .duration_ms = 500,          // Fault persists for 500ms
        .target_address = &wheel_speed_fl_raw,
        .fault_mask = 0xFFFFFFFF     // Maximum value
    };

    // Configure fault injection hardware (e.g., FPGA, fault injection tool)
    ConfigureFaultInjection(&config);
}

// Test: Verify safe state transition on persistent sensor fault
void Test_SafeState_PersistentSensorFault(void) {
    // 1. Initialize system
    ESC_Init();
    assert(ESC_GetMode() == ESC_MODE_NORMAL);

    // 2. Inject stuck-high fault on wheel speed sensor
    InjectFault_SensorStuckHigh();

    // 3. Run for fault duration
    for (uint32_t t = 0; t < 600; t += 10) {  // 600ms
        ESC_MainFunction();  // 10ms periodic task
        Delay_ms(10);
    }

    // 4. Verify safe state entered
    assert(ESC_GetMode() == ESC_MODE_SAFE_STATE);

    // 5. Verify warning lamp activated
    assert(GetWarningLampStatus() == WARNING_LAMP_ON);

    // 6. Verify DTC stored
    assert(IsDTCStored(DTC_WHEEL_SPEED_FAULT));

    // 7. Verify transition time within FTTI
    uint32_t transition_time = GetSafeStateTransitionTime_ms();
    assert(transition_time <= 150);  // FTTI requirement

    printf("✓ Safe state test PASS (transition time: %u ms)\n", transition_time);
}
```

### Software Fault Injection (Mutation Testing)

```python
# Mutation testing for safety mechanisms
import subprocess
import re

class MutationTester:
    def __init__(self, source_file, test_executable):
        self.source_file = source_file
        self.test_executable = test_executable
        self.mutations = []

    def generate_mutations(self):
        """Generate mutations of source code"""
        with open(self.source_file, 'r') as f:
            original_code = f.read()

        # Mutation 1: Change comparison operators
        mutations = [
            (r'>', '>='),    # > to >=
            (r'<', '<='),    # < to <=
            (r'==', '!='),   # == to !=
            (r'&&', '||'),   # && to ||
        ]

        for i, (pattern, replacement) in enumerate(mutations):
            mutated_code = re.sub(pattern, replacement, original_code, count=1)
            self.mutations.append({
                'id': f'MUT-{i+1}',
                'description': f'Change {pattern} to {replacement}',
                'code': mutated_code
            })

    def run_mutation_test(self, mutation):
        """Run tests against mutated code"""
        # Write mutated code to file
        with open(self.source_file, 'w') as f:
            f.write(mutation['code'])

        # Recompile
        compile_result = subprocess.run(['make', 'clean', 'all'],
                                       capture_output=True)

        # Run tests
        test_result = subprocess.run([self.test_executable],
                                     capture_output=True)

        # Mutation killed if tests fail
        killed = (test_result.returncode != 0)

        return killed

    def analyze_coverage(self):
        """Analyze mutation test coverage"""
        total = len(self.mutations)
        killed = sum(1 for m in self.mutations if self.run_mutation_test(m))

        mutation_score = (killed / total) * 100
        print(f"Mutation Score: {mutation_score:.1f}%")
        print(f"Mutations Killed: {killed}/{total}")

        # ASIL-D target: > 95% mutation score
        if mutation_score > 95:
            print("✓ Mutation testing PASS")
        else:
            print("✗ Mutation testing FAIL (target: > 95%)")

        return mutation_score

# Example usage
tester = MutationTester('esc_safety.c', './test_esc')
tester.generate_mutations()
tester.analyze_coverage()
```

## HIL (Hardware-in-Loop) Testing

### HIL Test Setup

```
┌─────────────────────────────────────────────────────────┐
│                   HIL Test System                       │
│                                                         │
│  ┌──────────────┐         ┌──────────────┐            │
│  │   Real-Time  │         │  Vehicle     │            │
│  │   Simulator  │◄───────►│  Dynamics    │            │
│  │   (dSPACE)   │         │  Model       │            │
│  └──────┬───────┘         └──────────────┘            │
│         │                                              │
│         │ CAN/LIN/Ethernet                             │
│         │                                              │
│  ┌──────▼───────┐         ┌──────────────┐            │
│  │   ESC ECU    │◄───────►│  Fault       │            │
│  │   (Real HW)  │         │  Injection   │            │
│  └──────┬───────┘         └──────────────┘            │
│         │                                              │
│         │ Actuator Outputs                             │
│         │                                              │
│  ┌──────▼───────┐         ┌──────────────┐            │
│  │   Brake      │         │  Test        │            │
│  │   Simulator  │◄───────►│  Automation  │            │
│  └──────────────┘         └──────────────┘            │
└─────────────────────────────────────────────────────────┘
```

### HIL Test Script (Python + dSPACE)

```python
#!/usr/bin/env python3
"""
HIL Test: ESC Safety Goal Verification
Test: SG-ESC-001 - Prevent unintended ESC activation
"""

import dspace
import time
import numpy as np

class HILTest_ESC:
    def __init__(self):
        self.ds = dspace.HILSystem('10.0.0.100')  # dSPACE IP
        self.test_results = []

    def setup(self):
        """Initialize HIL system"""
        # Load vehicle dynamics model
        self.ds.load_model('vehicle_dynamics_sedan_2024.sdf')

        # Configure CAN interface
        self.ds.configure_can(channel=1, baudrate=500000)

        # Reset ECU
        self.ds.reset_ecu()
        time.sleep(1)

        # Set initial conditions
        self.ds.set_variable('VehicleSpeed', 100.0)  # km/h
        self.ds.set_variable('RoadFriction', 0.8)    # Dry road
        self.ds.set_variable('SteeringAngle', 0.0)   # Straight

    def test_no_intervention_straight_driving(self):
        """Verify ESC does not activate during normal straight driving"""
        print("Test: No intervention during straight driving...")

        # Run simulation for 30 seconds
        self.ds.start_simulation()

        for t in np.arange(0, 30, 0.01):  # 10ms steps
            # Maintain steady state
            self.ds.set_variable('SteeringAngle', 0.0)
            self.ds.set_variable('VehicleSpeed', 100.0)

            # Read ESC status
            esc_active = self.ds.get_can_signal('ESC_Status', 'ESC_Active')

            # Verify ESC not active
            if esc_active:
                print(f"✗ FAIL: Unintended ESC activation at t={t:.2f}s")
                self.test_results.append({
                    'test': 'No_Intervention_Straight',
                    'result': 'FAIL',
                    'time': t
                })
                self.ds.stop_simulation()
                return False

            time.sleep(0.01)

        self.ds.stop_simulation()
        print("✓ PASS: No unintended activation")
        self.test_results.append({
            'test': 'No_Intervention_Straight',
            'result': 'PASS'
        })
        return True

    def test_intervention_oversteer(self):
        """Verify ESC activates during oversteer condition"""
        print("Test: ESC activation during oversteer...")

        self.ds.start_simulation()

        # Create oversteer condition
        self.ds.set_variable('VehicleSpeed', 100.0)
        self.ds.set_variable('RoadFriction', 0.3)  # Wet road

        # Sudden steering input
        for t in np.arange(0, 2, 0.01):
            self.ds.set_variable('SteeringAngle', 45.0)  # Sharp turn

            # Monitor vehicle dynamics
            yaw_rate = self.ds.get_variable('YawRate')
            lateral_accel = self.ds.get_variable('LateralAccel')
            esc_active = self.ds.get_can_signal('ESC_Status', 'ESC_Active')

            # Check if ESC activates
            if yaw_rate > 15.0 and not esc_active:
                # Vehicle is oversteering but ESC not active
                if t > 0.15:  # Allow for FTTI (150ms)
                    print(f"✗ FAIL: ESC did not activate (t={t:.2f}s, yaw={yaw_rate:.1f}°/s)")
                    self.test_results.append({
                        'test': 'Intervention_Oversteer',
                        'result': 'FAIL',
                        'reason': 'No activation during oversteer'
                    })
                    self.ds.stop_simulation()
                    return False

            if esc_active:
                print(f"✓ PASS: ESC activated at t={t:.2f}s")
                self.test_results.append({
                    'test': 'Intervention_Oversteer',
                    'result': 'PASS',
                    'activation_time': t
                })
                self.ds.stop_simulation()
                return True

            time.sleep(0.01)

        print("✗ FAIL: ESC never activated")
        self.test_results.append({
            'test': 'Intervention_Oversteer',
            'result': 'FAIL',
            'reason': 'No activation'
        })
        self.ds.stop_simulation()
        return False

    def test_safe_state_sensor_fault(self):
        """Verify safe state transition on sensor fault"""
        print("Test: Safe state on sensor fault...")

        self.ds.start_simulation()

        # Inject sensor fault
        self.ds.inject_fault('WheelSpeed_FL', fault_type='stuck_high')

        start_time = time.time()
        safe_state_entered = False

        for t in np.arange(0, 1, 0.01):
            # Read ECU status
            operating_mode = self.ds.get_can_signal('ESC_Status', 'OperatingMode')

            if operating_mode == 3:  # Safe state
                transition_time = (time.time() - start_time) * 1000  # ms
                print(f"✓ PASS: Safe state entered in {transition_time:.1f}ms")

                # Verify FTTI requirement
                if transition_time <= 150:
                    print(f"✓ PASS: FTTI requirement met ({transition_time:.1f}ms <= 150ms)")
                    self.test_results.append({
                        'test': 'Safe_State_Sensor_Fault',
                        'result': 'PASS',
                        'ftti_ms': transition_time
                    })
                else:
                    print(f"✗ FAIL: FTTI exceeded ({transition_time:.1f}ms > 150ms)")
                    self.test_results.append({
                        'test': 'Safe_State_Sensor_Fault',
                        'result': 'FAIL',
                        'reason': 'FTTI exceeded'
                    })

                safe_state_entered = True
                break

            time.sleep(0.01)

        self.ds.stop_simulation()
        self.ds.clear_faults()

        if not safe_state_entered:
            print("✗ FAIL: Safe state not entered")
            self.test_results.append({
                'test': 'Safe_State_Sensor_Fault',
                'result': 'FAIL',
                'reason': 'No safe state transition'
            })
            return False

        return True

    def generate_report(self):
        """Generate test report"""
        print("\n" + "="*60)
        print("HIL Test Report - ESC Safety Verification")
        print("="*60)

        total = len(self.test_results)
        passed = sum(1 for r in self.test_results if r['result'] == 'PASS')

        print(f"\nTotal Tests: {total}")
        print(f"Passed: {passed}")
        print(f"Failed: {total - passed}")
        print(f"Pass Rate: {(passed/total)*100:.1f}%\n")

        for result in self.test_results:
            status = "✓" if result['result'] == 'PASS' else "✗"
            print(f"{status} {result['test']}: {result['result']}")

        return passed == total

    def run_all_tests(self):
        """Execute all HIL tests"""
        self.setup()

        tests = [
            self.test_no_intervention_straight_driving,
            self.test_intervention_oversteer,
            self.test_safe_state_sensor_fault
        ]

        for test in tests:
            test()
            time.sleep(2)  # Delay between tests

        return self.generate_report()


if __name__ == "__main__":
    hil_test = HILTest_ESC()
    all_passed = hil_test.run_all_tests()

    if all_passed:
        print("\n✓ All HIL tests PASSED")
        exit(0)
    else:
        print("\n✗ Some HIL tests FAILED")
        exit(1)
```

## Back-to-Back Testing

### Model-Code Comparison

```matlab
% MATLAB/Simulink reference model
% ESC_ReferenceModel.m

function [control_level] = ESC_ReferenceModel(yaw_rate, lateral_accel)
    % Reference implementation in MATLAB
    YAW_THRESHOLD = 15.0;      % deg/s
    ACCEL_THRESHOLD = 0.4;     % g

    if yaw_rate > YAW_THRESHOLD
        if lateral_accel > ACCEL_THRESHOLD
            control_level = 3;
        else
            control_level = 2;
        end
    else
        if lateral_accel > ACCEL_THRESHOLD
            control_level = 1;
        else
            control_level = 0;
        end
    end
end

% Back-to-back test vectors
test_vectors = [
    % yaw_rate, lateral_accel, expected_output
    0.0, 0.0, 0;     % No intervention
    20.0, 0.2, 2;    % High yaw, low accel
    10.0, 0.5, 1;    % Low yaw, high accel
    20.0, 0.5, 3;    % High yaw, high accel
    15.0, 0.4, 2;    % Boundary values
];

% Run reference model
fprintf('Back-to-Back Test Results:\n');
fprintf('%-10s %-15s %-10s %-10s %-10s\n', 'Test', 'Inputs', 'Model', 'Code', 'Status');

for i = 1:size(test_vectors, 1)
    yaw = test_vectors(i, 1);
    accel = test_vectors(i, 2);
    expected = test_vectors(i, 3);

    % Run MATLAB model
    model_output = ESC_ReferenceModel(yaw, accel);

    % Run C code (via MEX or external call)
    code_output = ESC_CalculateControl_C(yaw, accel);

    % Compare outputs
    if model_output == code_output && model_output == expected
        status = 'PASS';
    else
        status = 'FAIL';
    end

    fprintf('TC-%d     (%.1f, %.1f)    %d          %d         %s\n', ...
            i, yaw, accel, model_output, code_output, status);
end
```

## Traceability Matrix

### Requirements Traceability

```sql
-- Traceability database schema
CREATE TABLE SafetyGoals (
    sg_id VARCHAR(50) PRIMARY KEY,
    description TEXT,
    asil VARCHAR(10),
    ftti_ms INT
);

CREATE TABLE FunctionalSafetyRequirements (
    fsr_id VARCHAR(50) PRIMARY KEY,
    sg_id VARCHAR(50) REFERENCES SafetyGoals(sg_id),
    description TEXT
);

CREATE TABLE TechnicalSafetyRequirements (
    tsr_id VARCHAR(50) PRIMARY KEY,
    fsr_id VARCHAR(50) REFERENCES FunctionalSafetyRequirements(fsr_id),
    description TEXT
);

CREATE TABLE SoftwareSafetyRequirements (
    swr_id VARCHAR(50) PRIMARY KEY,
    tsr_id VARCHAR(50) REFERENCES TechnicalSafetyRequirements(tsr_id),
    description TEXT,
    verification_method VARCHAR(100)
);

CREATE TABLE TestCases (
    tc_id VARCHAR(50) PRIMARY KEY,
    swr_id VARCHAR(50) REFERENCES SoftwareSafetyRequirements(swr_id),
    test_type VARCHAR(50),
    status VARCHAR(20),
    result VARCHAR(20)
);

-- Query: Generate traceability matrix
SELECT
    sg.sg_id,
    sg.description AS safety_goal,
    fsr.fsr_id,
    tsr.tsr_id,
    swr.swr_id,
    tc.tc_id,
    tc.result
FROM SafetyGoals sg
LEFT JOIN FunctionalSafetyRequirements fsr ON sg.sg_id = fsr.sg_id
LEFT JOIN TechnicalSafetyRequirements tsr ON fsr.fsr_id = tsr.fsr_id
LEFT JOIN SoftwareSafetyRequirements swr ON tsr.tsr_id = swr.tsr_id
LEFT JOIN TestCases tc ON swr.swr_id = tc.swr_id
WHERE sg.sg_id = 'SG-ESC-001'
ORDER BY sg.sg_id, fsr.fsr_id, tsr.tsr_id, swr.swr_id;
```

## Functional Safety Assessment

### Assessment Checklist

```yaml
assessment_id: "FSA-ESC-ECU-001"
item: "ESC Electronic Control Unit"
asil: "ASIL-D"
assessment_type: "Independent Safety Assessment"
assessor: "TÜV SÜD"
date: "2024-03-19"

part_2_management:
  - criterion: "Safety lifecycle defined"
    status: "COMPLIANT"
    evidence: "SAF-001: Safety Plan v1.5"

  - criterion: "Safety manager appointed"
    status: "COMPLIANT"
    evidence: "Org chart, training records"

  - criterion: "Safety culture established"
    status: "COMPLIANT"
    evidence: "Safety culture assessment report"

part_3_concept:
  - criterion: "Item definition complete"
    status: "COMPLIANT"
    evidence: "ITEM-ESC-001: Item Definition v2.0"

  - criterion: "HARA performed"
    status: "COMPLIANT"
    evidence: "HARA-ESC-001: 15 hazardous events analyzed"

  - criterion: "Safety goals defined"
    status: "COMPLIANT"
    evidence: "3 safety goals (ASIL-D, C, B)"

part_4_system:
  - criterion: "Technical safety concept"
    status: "COMPLIANT"
    evidence: "TSC-ESC-001: TSC v1.8"

  - criterion: "System architecture"
    status: "COMPLIANT"
    evidence: "ARCH-ESC-001: Architecture spec"

  - criterion: "Safety analysis (FMEA)"
    status: "COMPLIANT"
    evidence: "FMEA-ESC-HW-001, FMEA-ESC-SW-001"

part_5_hardware:
  - criterion: "Hardware safety requirements"
    status: "COMPLIANT"
    evidence: "HSR-ESC-001: 25 requirements"

  - criterion: "SPFM/LFM/PMHF calculated"
    status: "COMPLIANT"
    evidence: "FMEDA-ESC-001: SPFM=99.2%, LFM=92.5%, PMHF=8.5 FIT"

  - criterion: "Hardware metrics meet targets"
    status: "COMPLIANT"
    evidence: "All metrics within ASIL-D targets"

part_6_software:
  - criterion: "Software safety requirements"
    status: "COMPLIANT"
    evidence: "SWR-ESC-001: 44 requirements"

  - criterion: "MISRA compliance"
    status: "COMPLIANT"
    evidence: "Static analysis: 0 violations"

  - criterion: "Unit test MC/DC coverage"
    status: "COMPLIANT"
    evidence: "Coverage report: 100% MC/DC"

  - criterion: "Software safety manual"
    status: "COMPLIANT"
    evidence: "SSM-ESC-001: SW Safety Manual v1.0"

part_8_supporting:
  - criterion: "Configuration management"
    status: "COMPLIANT"
    evidence: "Git repository, version control procedures"

  - criterion: "Tool qualification"
    status: "COMPLIANT"
    evidence: "Compiler (GCC-ARM), Static analyzer (PC-Lint) qualified"

  - criterion: "Documentation"
    status: "COMPLIANT"
    evidence: "All work products present and reviewed"

verification_validation:
  - criterion: "Verification plan executed"
    status: "COMPLIANT"
    evidence: "VER-PLAN-ESC-001: All activities complete"

  - criterion: "Validation testing performed"
    status: "COMPLIANT"
    evidence: "VAL-REPORT-ESC-001: HIL testing 1000 hours"

  - criterion: "Safety goals validated"
    status: "COMPLIANT"
    evidence: "All 3 safety goals verified in target environment"

findings:
  - finding_id: "FSA-001"
    category: "Observation"
    description: "Traceability links between TSR and SWR could be improved"
    severity: "Minor"
    recommendation: "Add automated traceability tool"
    status: "Open"

  - finding_id: "FSA-002"
    category: "Observation"
    description: "Field monitoring process not fully defined"
    severity: "Minor"
    recommendation: "Document field data collection procedures"
    status: "Open"

conclusion:
  overall_assessment: "POSITIVE"
  recommendation: "Release for production"
  conditions:
    - "Address findings FSA-001 and FSA-002 before SOP"
    - "Maintain configuration management during production"
  next_assessment: "After 1 year of production (field monitoring review)"
```

## Production Checklist

### Verification & Validation Sign-Off

- [ ] Requirements reviews completed (all levels)
- [ ] Design reviews completed (all levels)
- [ ] Static analysis performed (0 critical violations)
- [ ] Unit testing completed (100% MC/DC for ASIL-D)
- [ ] Integration testing completed (all interfaces)
- [ ] System testing completed (all requirements)
- [ ] HIL testing completed (> 1000 hours for ASIL-D)
- [ ] Fault injection testing completed
- [ ] Back-to-back testing completed (model vs code)
- [ ] Traceability matrix complete (SG → TC)
- [ ] Safety analysis verified (FMEA/FTA)
- [ ] Hardware metrics verified (SPFM/LFM/PMHF)
- [ ] Safety manual reviewed and approved
- [ ] Independent safety assessment passed
- [ ] Release for production authorized

## References

- ISO 26262-4:2018 - Product Development at System Level
- ISO 26262-8:2018 - Supporting Processes (Verification)
- ISO 26262-11:2018 - Semiconductors (Validation)
- dSPACE HIL Testing Guide
- AUTOSAR Methodology
- Mutation Testing Handbook

## Related Skills

- ISO 26262 Overview
- FMEA/FTA Analysis
- Software Safety Requirements
- Safety Mechanisms and Patterns
- Hardware Safety Requirements
