Machine learning-based system requires specific attention towards their safety characteristics while considering the higher-level requirements. This study describes our approach for analyzing machine learning safety requirements top-down from higher-level business requirements, functional requirements, and risks to be mitigated. Our approach utilizes six different modeling techniques: AI Project Canvas, Machine Learning Canvas, KAOS Goal Modeling, UML Components Diagram, STAMP/STPA, and Safety Case Analysis. As a case study, we also demonstrated our approach for lane and other vehicle detection functions of self-driving cars.