自主系统安全是自动驾驶、机器人等领域的核心难题，这篇论文给出了一个可落地的运行时强制方案，做安全关键系统开发的工程师可以直接参考其算法和案例。
本文提出一种运行时强制框架，用于确保自主和网络物理系统在不确定动态环境中的安全。与传统的运行时验证不同，运行时强制通过主动干预执行过程来防止属性违反，可修改不安全行为。该框架使用混合自动机建模安全需求，结合离散事件编辑与连续时间监控，支持事件抑制、延迟和插入等操作。通过运行时可达性分析合成安全纠正动作，并在自适应巡航控制系统中验证了有效性，实验表明该方法在实时保障安全的同时引入极小计算开销。
Runtime Enforcement of Hybrid System Properties
Runtime enforcement has emerged as a promising approach for ensuring the safety of autonomous and cyber-physical systems operating in uncertain and dynamic environments. Unlike traditional runtime verification, runtime enforcement actively intervenes during execution to prevent property violations by modifying unsafe system behaviors. Existing enforcement frameworks primarily focus on untimed or discrete-time specifications and are often limited to delaying or suppressing events, making them inadequate for reactive systems exhibiting complex continuous dynamics. In this paper, we propose a runtime enforcement framework where safety requirements are modeled using Hybrid Automata (HA). The framework combines discrete-event editing with continuous-time monitoring to support enforcement actions such as suppression, delay, and insertion of events at arbitrary time instants. Upon observing environmental inputs, the automaton is initialized, and runtime reachability analysis is used to synthesize safe corrective actions. We formally define the enforcement problem for safety hybrid automata, establish enforceability conditions, and present an online enforcement algorithm for reactive systems. A detailed case study on an Adaptive Cruise Control (ACC) system demonstrates the effectiveness of the proposed approach in maintaining safety properties under unsafe controller behaviors. Experimental results show that the framework introduces minimal computational overhead while ensuring continuous compliance with safety requirements in real time.