Francesco Concas  
Jukka K. Nurminen  
Tommi Mikkonen  
Sasu Tarkoma  
July 23, 2020  

A BSTRACT  

1 Introduction to Self-Driving Vehicles  
1.1 Components of Self-Driving Vehicles  
1.2 Software-related Issues  

2 Safety Requirements of Self-Driving Vehicles  
2.1 Driver Out of the Loop  
2.2 Accepted Failure Rate  
2.3 Hazards  
2.4 Traffic Laws  

3 Validation Approaches and Techniques  
3.1 Simulating Scenarios  
3.2 Image Generation  
3.3 V2V and V2I Networks  
3.4 Fault Injection  

4 Roadmap  
4.1 State-of-the-art  
4.2 Future Work  
4.2.1 Safety Requirements  
4.2.2 V2X  
4.2.3 Vulnerabilities