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The released ISO 26262 standard requires a hazard analysis and risk assessment for automotive systems to determine the necessary safety measures to be implemented for a certain feature. In this paper, we present a structured and model-based hazard analysis and risk assessment method for automotive systems. The hazard analysis and risk assessment are based on a requirements engineering process using problem frames. Their elements are represented by a UML notation extended with stereotypes. The UML model enables a rigorous validation of several constraints expressed in OCL. We illustrate our method using an electronic steering column lock system.