In-Situ Requirements Monitoring of Embedded Systems

We present a requirements-driven methodology enabling efficient runtime monitoring of embedded systems. The proposed approach extracts a runtime monitoring graph from system requirements specified using unified modeling language sequence diagrams with timing annotations. Nonintrusive, in-situ, on-chip hardware dynamically monitors the system execution, matches the specified requirements, and provides detailed information that can be analyzed in the event of a system failure. We present a case study using an autonomous vehicle subsystem demonstrating that the approach can achieve 100% detection rate of common failure types, including timing, dependency, synchronization, and sensor failures. We further analyze the relationship between coverage of system events, detection rates, and hardware requirements.