**1. Introduction**

#### **1.1 General thoughts about autonomous driving**

The transition from self-driving individual transport to driverless on-demand mobility with ADS is a major challenge for both people and technology. Innovative mobility concepts such as Mobility-as-a-Service (MaaS) and Transport-as-a-Service (TaaS) are being developed to bring safe, environmentally friendly, cost-effective and convenient solutions to the market [1].

As the mobility market evolves, companies will need to offer diverse hardware, software, and services portfolios to meet the expectations of their customers. Among the top priorities is Level 4 safety: Today's vehicles are already equipped with numerous safety and assistance systems, making driving very safe. On average, a human driver causes a fatal accident every 600 million kilometers [2]. Self-driving systems are expected to further reduce the number of accidents. To achieve this, the system needs to be extremely robust, which is not only challenging in terms of design, but also in terms of verification.
