基于 RFLP 方法的汽车自动驾驶系统架构设计

doi:10.12305/j.issn.1001-506X.2026.08.16

摘要/Abstract

摘要：

针对汽车自动驾驶系统设计存在全局视角缺失、知识传递与复用困难，现有建模方法依赖单一建模语言、难以满足多层级协同与多学科交叉建模需求等问题，提出一种基于需求-功能-逻辑-物理的自动驾驶系统建模方法。构建覆盖需求分析、功能分析、逻辑架构和物理架构的多层级建模流程，建立层级间映射关系，实现需求向系统架构的逐层传递与追溯，支撑后续基于模型的系统验证。以汽车自动驾驶系统为对象开展建模验证，结果表明，所提方法有效提升建模规范性、一致性和可追溯性，为复杂自动驾驶系统设计提供方法支撑。

关键词: 自动驾驶系统, 基于模型的系统工程, 建模方法论, 建模语言, 需求-功能-逻辑-物理

Abstract:

To address the problems of the lack of a global perspective, difficulties in knowledge transfer and reuse, and the inability of existing modeling methodologies that rely on a single modeling language to meet the requirement that multi-level collaboration and multi-disciplinary modeling in automated driving system design, a requirement-function-logic-physics-based automated driving system modeling methodology is proposed. A multi-level modeling process covering requirement analysis, functional analysis, logical architecture, and physical architecture design is built. A hierarchical mapping relationship is established to facilitate the layer-by-layer transfer and traceability of requirements to system architecture, supporting subsequent model-based system verification. Modeling verification is conducted on the automated driving systems, and the results showed that the proposed methodology effectively improved the normalization, consistency, and traceability of modeling, providing methodological support for the design of complex automated driving systems.

Key words: automated driving system, model-based systems engineering (MBSE), modeling method, Modeling language, requirement-function-logic-physics (RFLP)

中图分类号:

TP 391.9

董梦如, 王国新, 鲁金直, 马君达, 宋兴, 阎艳. 基于 RFLP 方法的汽车自动驾驶系统架构设计[J]. 系统工程与电子技术, 2026, 48(8): 2680-2700.

Mengru DONG, Guoxin WANG, Jinzhi LU, Junda MA, Xing SONG, Yan YAN. Architecture design of automated driving system based on RFLP method[J]. Systems Engineering and Electronics, 2026, 48(8): 2680-2700.

图/表 27

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建模语言	图元模型	模型	数量
SysML	用例图	系统边界定义模型、用例定义模型	2
	活动图	通信系统活动模型、事件数据记录系统活动模型、故障管理系统活动模型、高精度地图活动模型、感知系统活动模型、车辆控制系统活动模型、功能流模型	7
	状态机图	自动驾驶系统状态机模型	1
	模块定义图	功能架构模型、逻辑组成模型、逻辑架构模型、物理组成模型	4
SysML	内部模块图	车辆控制系统接口模型、感知系统接口模型、高精度地图接口模型、逻辑接口模型、物理接口模型	5
SysML	参数图	ADS参数定义模型、黑匣子参数模型、制动盘参数模型、制动液参数模型、制动液传感器参数模型、刹车片参数模型、摄像头参数模型、电子油门执行器参数模型、发动机参数模型、故障诊断设备参数模型、激光雷达参数模型、雷达参数模型、卫星通信设备参数模型、传感器记录单元参数模型、转向电机参数模型、转向传感器参数模型、存储设备参数模型、超声波传感器参数模型、车辆对基础设施通信设备参数模型、车辆间通信模块参数模型	20
EAST-ADL	车辆特征模型	特征分析模型	1
BPMN	流程图	车辆控制特征的功能场景、通信特征的功能场景、决策和控制特征的功能场景、高清地图和定位的功能场景、路径规划特征的功能场景、感知与感知融合特征的功能场景、安全性和故障处理特征的功能场景模型	7

组件名称	成本	组件名称	成本
制动盘	1000/6000/10000	雷达	2 000
黑匣子	2 000	卫星通信设备	5000
制动液	100	传感器数据记录单元	800
制动液传感器	300	转向电机	3000
刹车片	500	转向传感器	200
摄像头	2 000	存储设备	800
电子油门执行器	1500	超声波传感器	500
发动机	6000	车辆对基础设施通信设备	3000
故障诊断设备	3000	车辆间通信模块	3000
激光雷达	10000	—	—

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