  Regulatory approval and safety guarantees for autonomous vehicles facing
frequent functional updates and complex software stacks, including artificial
intelligence, are a challenging topic. This paper proposes a concept and
guideline for the development of an online verification module -- the
Supervisor -- capable of handling the aforementioned challenges. The concept
presented for the establishment of a Supervisor is designed in a way to
identify and monitor an extensive list of features contributing to safe
operation. As a result, a safe overall (sub)system is attained. Safeguarding a
motion planner of an autonomous race vehicle is used to illustrate the
procedure and practicability of the framework at hand. The capabilities of the
proposed method are evaluated in a scenario-based test environment and on
full-scale vehicle data.
