This paper describes a functional perspective-based approach to fail-safe framework for autonomous driving. Autonomous vehicles have various sensor and actuator configurations in order for fully autonomous driving. In order to prevent fatal accidents caused by faults in sensor or actuator, fail-safe system for autonomous driving is required. The fail-safe framework divided into three parts such as perception, decision, and control has been proposed in terms of functional perspective for autonomous driving. Based on the proposed framework, fail-safe method for autonomous driving has been proposed using sensors and actuators of autonomous vehicle.