基于 STPA 和 Bow-Tie 模型的地面无人平台系统安全分析方法

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.