I. Introduction
Fault simulation and fault injection (FI) are widely accepted techniques for assessing software robustness and error handling mechanisms of embedded systems [1]. In the automotive industry, FI has become a common practice to improve embedded systems quality and avoid the costs associated with untested safety-critical software [2]. The automotive safety standard ISO 26262 [3] recommends FI testing for electronic control unit (ECU) software at automotive software integrity levels (ASILs) C and D. Automotive recall cases such as Honda [4], Toyota [5] and Jaguar [6] show that in some extreme environmental conditions ECU hardware malfunctions can potentially give rise to ECU software faults. This highlights the importance of FI to avoid the costs and risks associated with unprotected software.