== Abstract ==

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dvanced Driver Assistance Systems (ADAS) and automated vehicle applications based on embedded sensors have become a reality today. As road vehicles increase its autonomy and the driver shares his role in the control loop, novel challenges on their dependability assessment arise. One key issue is that the notion of controllability becomes more complex when validating the robustness of the automated vehicle in the presence of faults. This paper presents a simulation-based fault injection approach aimed at finding acceptable controllability properties for the model-based design of control systems. We focus on determining the best fault models inserting exceptional conditions to accelerate the identification of specific areas for testing. In our work we performed fault injection method to find the most appropriate safety concepts, controllability properties and fault handling strategies at early design phases of lateral control functions based on the error in the Differential GPS signal. Authors wants to thank to the H2020 UnCoVerCPS Project (with grant number 643921) and the ECSEL JU AMASS project under H2020 grant agreement No 692474 and from MINETUR (Spain).

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== Original document ==

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The different versions of the original document can be found in:

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* [http://dsp.tecnalia.com/bitstream/11556/479/1/IV2017_accepted.pdf http://dsp.tecnalia.com/bitstream/11556/479/1/IV2017_accepted.pdf]

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* [http://dx.doi.org/10.1109/ivs.2017.7995977 http://dx.doi.org/10.1109/ivs.2017.7995977]

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* [http://hdl.handle.net/11556/479 http://hdl.handle.net/11556/479]

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* [http://xplorestaging.ieee.org/ielx7/7987634/7995688/07995977.pdf?arnumber=7995977 http://xplorestaging.ieee.org/ielx7/7987634/7995688/07995977.pdf?arnumber=7995977],

: [http://dx.doi.org/10.1109/ivs.2017.7995977 http://dx.doi.org/10.1109/ivs.2017.7995977]

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* [https://dblp.uni-trier.de/db/conf/ivs/ivs2017.html#UriagerekaLRCoO17 https://dblp.uni-trier.de/db/conf/ivs/ivs2017.html#UriagerekaLRCoO17],

: [http://dsp.tecnalia.com/handle/11556/479 http://dsp.tecnalia.com/handle/11556/479],

: [https://ieeexplore.ieee.org/document/7995977 https://ieeexplore.ieee.org/document/7995977],

: [https://core.ac.uk/display/154343158 https://core.ac.uk/display/154343158],

: [https://doi.org/10.1109/IVS.2017.7995977 https://doi.org/10.1109/IVS.2017.7995977],

: [http://dsp.tecnalia.com/bitstream/11556/479/1/IV2017_accepted.pdf http://dsp.tecnalia.com/bitstream/11556/479/1/IV2017_accepted.pdf],

: [https://academic.microsoft.com/#/detail/2741450763 https://academic.microsoft.com/#/detail/2741450763]

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