Safety of Perception System for Automated Driving: A Case Study on Apollo

We assess the safety of Apollo, the most popular open-source automotive software, at the design level for its use on a Dutch highway. We identified 58 safety requirements, 38 out of which are fulfilled by the design. We observed that while all requirements relating to traditional software are fulfilled, a majority of requirements specific to machine learning systems are not. We identified issues that need immediate attention and directions for future research to make automated driving safe.