A Review of the Evolution of Hazard and Risk Analysis Methods for Automated Driving in the Context of ISO 26262 and ISO 21448

The increasing level of automation in vehicle systems leads to higher system complexity and challenges for established safety analysis processes. Classical approaches such as Hazard Analysis and Risk Assessment (HARA), central to functional safety under ISO 26262, as well as methods such as Fault Tree Analysis (FTA) and Failure Mode and Effects Analysis (FMEA), show limitations when applied to open and dynamic operational environments with complex interactions. This paper presents a systematic literature review investigating how hazard and risk analysis methods have evolved following the release of ISO 26262 (2nd ed.), with particular consideration of ISO 21448 addressing the safety of the intended functionality (SOTIF). Scientific publications from December 2018 to December 2025 were identified and analyzed using defined selection criteria. The results indicate that current developments primarily extend and combine established methods rather than replacing them. These approaches enhance scenario representation, interaction analysis, and quantitative assessment, but remain heterogeneous and not fully integrated. The paper provides a structured classification of these developments and highlighting the need for systematic integration of complementary methods to address the safety challenges of highly automated vehicle systems.

Keywords: Hazard and Risk Analysis, Functional Safety, ISO 26262, ISO 21448, SOTIF, Automated Driving, Safety Analysis Methods.