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Safety is a very important property for safety-critical software systems. We introduce an approach to test safety-critical software systems based on safety requirement by using model-based testing. The model is extracted from the safety requirement and system under test. In our approach, we use model checking techniques to generate test cases. To find appropriate test cases in less time, we divide the states spaces of model into different subsets. By using the approach, we have designed an automatic testing framework and developed an automatic testing platform, which has been used for testing the safety of high speed train control system in China.