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

Abstract

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)

CLC Number:

TP 391.9

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.

Figures/Tables 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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Architecture design of automated driving system based on RFLP method

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