The INSIGHT project aims to develop driverless shuttles with advanced sensors and control systems for testing pedestrian areas with a focus on improving urban accessibility for disabled and visually-impaired people. The project activities require a safety case to provide guidance to identify and classify hazardous events, and avoid these risks by providing appropriate requirements and processes. The safety approach complying with requirements in ISO 26262 has been employed to generate series of hazardous events, safety goals and functional safety requirements in the vehicle level throughout the entire development lifecycle process. The technical focus of this study is on navigation system, human-machine interaction system and vehicle motion control system, e.g. steering, propulsion, suspension and brake. The malfunctioning behaviour of these system has been assessed, and their safety with layers of protection are produced based on the present method.