	A	B	C	D	E	H	J	K	L	O	P	R	S	T	U	V
1	Item/Function		Failure Mode	Effect of Failure IN GF	Effect of Failure IN Obstacle Detection	Cause of Failure	Implemented Control Actions			TODO Control Actions		Action Results
2	Item/Function		Failure Mode	Effect of Failure IN GF	Effect of Failure IN Obstacle Detection	Cause of Failure	Prevention - offline	Prevention - online	Detection - Online	Recommend Action - Offline	Recommend Action - Online	Actions Taken	Sev	Occ	Det	RPN

3	Get Hero State ( Pitch & z...)		No pose inputs	No GF output	No OD output	Eth connection issue, pose not working/ not send out...			Check receive inputs	Unit test when there is pose input available in system check whether GF could read the info	1. set INVALID_POSE flag for no input after continues 300 ms
4			pose inputs( pitch,z) out of range	Incorrect GF	Miss Objects						ADD pose range validation. if pose invalid then ignore the current frame and not exe GF, set INVALID_POSE flag
5			Pose not sync in time	Incorrect GF	Miss Objects	Pose update frequency too low < 10hz			Check receive pose inputs later than lidar inputs		ADD timestamp check, always use the latest value within 300 ms
6	Get Latest Planner Trajectory		No Traj Inputs	No GF output	No OD output				Check receive inputs	Unit test when there is traj input available in system check whether GF could read the info	1. set INVLID_TRAJ flag for no input after continues 300 ms
7			Traj not sync in time	Incorrect GF	Miss Objects						ADD timestamp check, always use the latest value within 300?? ms
8			Traj not follow the hero's path ( Incorrect for 1 or 2 frame )	GF output for the incorrect traj	Miss Object in the hero's path				Check whether the hero is out of Traj	Better understand traj performance in Planner	ADD radius/ speed/ curvature check if traj invalid ( geometric imposisble for hero ) then ignore the current frame and use the last previous frame not exe GF, set INVALID_TRAJ flag
9			length of Trajectory is not long enough ( usually happened when hero stopped)	No GF output	No OD output			Extrapolate at least 10 m in front of the hero
10	Get Lidar Point Clouds		No Lidar Inputs	No GF output	No OD output				Check receive inputs	Unit test when there is lidar input available in system check whether GF could read the info	set INVALID_LIDAR flag for no input
11			lidar not sync in time	Incorrect GF	Miss Objects	Lidar miss 1 to 3 frames					ADD timestamp check, if not sunc in time then set INVALID_LIDAR flag
12			Degraded lidar resolution ( Not receive all of expected lidar beams )	??	Missing objects	Lidar missing beam				Fault inject test
13			Ghost lidar points	Inaccurate GF	FP/ FN	Lidar Interference				Follow up with Dominic
14			Incorrect/ Inaccurate lidar point range value	Inaccurate GF	FP/ FN	Individual beam stuck with range value
15			...
16	Compute corridor	Filter lidar points far and not inside relevant region
17	Compute corridor	Compute corridor	Incorrect corridor	Incorrect GF since select wrong Lidar point	Miss Objects	Incorrect inputs		1. Check no lidar points inside Corridor 2. No parameter set by corridor function			if there is no inputs, set INVALID_CORRIDOR flag
18	Select Ground Point Candidates	Sort the lidar points by each beam	Points are not sorted by beam	No GF output since no cluster for GF	Miss Objects		Unit test lidar points are sorted
19		Sort the lidar points by azimuth for each beam	Sorting function NOT output sorted the points by azimuth	Not use all the valid lidar points for GF	Miss Objects		Unit test lidar points are sorted
20		Compute Arc Length along Traj for each points	Inaccurate Arc length calculation	Inaccurate GF distance	Inaccurate object distance est					ADD Unit test to verify arc length calculation
21		output all clustered lidar points	not output all cluster points	Incomplete GF	Miss Objects		Unit Test inject Lidar points with known cluster
22	Fit Ground Point Candidates to BSpline	Build Arc Length and Height Array for BSpline
23		Define Points Under Hero	Incorrect length of wheelbase								1. Read from conf. 2. ADD checksum in conf.
24		Separate Lidar points by bins along Arc length	Not all lidar points captured by bins	Incomplete GF			Unit Test
25		Weight Points by Height in each bin	poor choice of bin number	Inaccurate GF	FP/ FN			Set upper and lower boundary		SOTIF: Log mining and data analysis, accumulated mileage
26			poor choice of kMinHeight	Inaccurate GF	FP/ FN					SOTIF: Log mining and data analysis, accumulated mileage
27			poor choice of kNominalWeight	Inaccurate GF	FP/ FN					SOTIF: Log mining and data analysis, accumulated mileage
28		Recompute spline knots	Spline knots not recomputed	Invalid GF	FP/ FN		Unit Test: manually change number of knots
29		Recompute basis function with updated control points	Basis function not recomputed	Invalid GF	FP/ FN		Unit Test: manually change number of knots
30		Solve Least Square	non-solvable: not enough points ( steep down hill )	No GF output	No OD output				Check min number of points before calculation and then raise error flag to downstream functions		use the LR lidar on the other side, or use the SR lidar
31		Solve Least Square	non-solvable: duplicate points	Inaccurate GF	FP/ FN				Select unique points ( computation expensive, not sure how often happens )
32		Limit ordinate values for control points	Not limit ordinate values enough	Inaccurate GF	FP/ FN		Unit test: generate high peak poly and verify GF output lower than control point
33	Compute Spline Derivative		Invalid derivative calc				Unit test for different polynomial shapes
34	Skew Weights toward Lower Height	Calc residual
35		Set Upper and lower boundary for GF	Boundary calibration is too wide and not NOT wide enough							SOTIF
36		Apply different weights to all points based on boundary	Sensitive to ghost point clusters	Inaccurate GF	False Positive			Bound Weights		SOTIF
37	Limit Weights for Steep Slope
38	Adaptively adjust number of knots		Not enough lidar points for a poly fit					Set lower bound for number lidar points			ADD numeric confident level for GF poly
39	Recompute knots and basis function
40	Assign Lidar Point Properties based on Distance from BSpline Fit ( calc distance )
41	Build Ground Height Predictor Function
42
43
44
45
46	Implement in EMU	Define data buffer size	Data buffer size is not large enough	SW crash, Memory error			provide large enough memory space, analysis of upper bound of lidar points			1. Check for overflow 2. Unit test or simulation
47			Data buffer size is not large enough	Inaccurate GF, Throw out critical points
48		Maintain data buffer, keep tracking of how full of each array ( lidar points, control points, knots, basis functions )	Not maintain data buffer	No GF output or invalid GF output						Unit test