AutoPilot : System
AP_FAA : FAA
AP_HA : HardwareArchitecture
AP_DN : DeviceNodeClassification
visionProcessor1 : ECU ?
[ type = SmartDeviceNode ]
visionProcessor2 : ECU ?
[ type = SmartDeviceNode ]
algorithmProcessor1 : ECU ?
[ type = SmartDeviceNode ]
algorithmProcessor2 : ECU ?
[ type = SmartDeviceNode ]
frontDriverLidarSensor : DeviceNode ?
[ type = EEDeviceNode ]
frontPassengerLidarSensor : DeviceNode ?
[ type = EEDeviceNode ]
frontRadarSensor : DeviceNode ?
[ type = EEDeviceNode ]
frontCameraSensor : DeviceNode ?
[ type = EEDeviceNode ]
AP_CT : CommTopology
frontCameraData1 : DiscreteDataConnector ?
[ endpoint = frontCameraSensor, visionProcessor1 ]
frontCameraData2 : DiscreteDataConnector ?
[ endpoint = frontCameraSensor, visionProcessor2 ]
frontDriverLidarData1 : DiscreteDataConnector ?
[ endpoint = frontDriverLidarSensor, visionProcessor1 ]
frontDriverLidarData2 : DiscreteDataConnector ?
[ endpoint = frontDriverLidarSensor, visionProcessor2 ]
frontPassengerLidarData1 : DiscreteDataConnector ?
[ endpoint = frontPassengerLidarSensor, visionProcessor1 ]
frontPassengerLidarData2 : DiscreteDataConnector ?
[ endpoint = frontPassengerLidarSensor, visionProcessor2 ]
ProcessingLayer : BusConnector ?
[ endpoint in visionProcessor1, visionProcessor2, algorithmProcessor1, algorithmProcessor2, frontRadarSensor ]
AP_Dpl : Deployment // nodes
[ AP_FAA.frontDriverLidar.deployedTo = AP_DN.frontDriverLidarSensor ]
[ AP_FAA.frontPassengerLidar.deployedTo = AP_DN.frontPassengerLidarSensor ]
[ AP_FAA.lidarProcessing.deployedTo in AP_DN.visionProcessor1, AP_DN.visionProcessor2 ]
[ AP_FAA.pointCloudClustering.deployedTo in AP_DN.algorithmProcessor1, AP_DN.algorithmProcessor2 ]
[ AP_FAA.frontRadar.deployedTo = AP_DN.frontRadarSensor ]
[ AP_FAA.frontCamera.deployedTo = AP_DN.frontCameraSensor ]
[ AP_FAA.dynamicObjectDetection.deployedTo in AP_DN.algorithmProcessor1, AP_DN.algorithmProcessor2 ]
[ AP_FAA.trajectoryPlanningAP.deployedTo in AP_DN.algorithmProcessor1, AP_DN.algorithmProcessor2 ]
[ AP_FAA.speedControl.deployedTo in AP_DN.algorithmProcessor1, AP_DN.algorithmProcessor2 ]
// connectors
[ AP_FAA.frontDriverLidarVal.deployedTo.dref in AP_CT.frontDriverLidarData1, AP_CT.frontDriverLidarData2 ]
[ AP_FAA.frontPassengerLidarVal.deployedTo.dref in AP_CT.frontPassengerLidarData1, AP_CT.frontPassengerLidarData2 ]
[ AP_FAA.frontCameraVal.deployedTo.dref in AP_CT.frontCameraData1, AP_CT.frontCameraData2 ]
[ AP_FAA.frontRadarVal.deployedTo.dref in AP_CT.ProcessingLayer ]
[ AP_FAA.dynamicObjects.deployedTo.dref in AP_CT.ProcessingLayer ]
[ AP_FAA.velocityProfile.deployedTo.dref in AP_CT.ProcessingLayer ]
abstract FAA : FunctionalAnalysis
frontDriverLidar : FunctionalDevice ?
[ implementation.hardware ]
[ degradation = 1 ]
[ one output ]
frontPassengerLidar : FunctionalDevice ?
[ implementation.hardware ]
[ degradation = 1 ]
[ one output ]
lidarProcessing : AnalysisFunction ?
[ implementation.software ]
[ degradation = if # input = 2 then 1 else 2 ]
[ some input && one output ]
pointCloudClustering : AnalysisFunction ?
[ implementation.software ]
[ degradation = 1 ]
[ some input && one output ]
frontRadar : FunctionalDevice ?
[ implementation.hardware ]
[ degradation = 1 ]
[ one output ]
frontCamera : FunctionalDevice ?
[ implementation.hardware ]
[ degradation = 1 ]
[ one output ]
dynamicObjectDetection : AnalysisFunction ?
[ implementation.software ]
[ degradation = if frontRadarVal && pointCloudCusterVal then 1 else if frontCameraVal && pointCloudCusterVal then 2 else 3 ]
[ some input && one output ]
trajectoryPlanningAP : AnalysisFunction ?
[ implementation.software ]
[ degradation = 1 ]
[ some input && one output ]
speedControl : AnalysisFunction ?
[ implementation.software ]
[ degradation = 1 ]
[ some input ]
// Function Connectors
frontDriverLidarVal : FunctionConnector ?
[ sender = frontDriverLidar && receiver = lidarProcessing ]
frontPassengerLidarVal : FunctionConnector ?
[ sender = frontPassengerLidar && receiver = lidarProcessing ]
compositePointCloud : FunctionConnector ?
[ sender = lidarProcessing && receiver = pointCloudClustering ]
frontRadarVal : FunctionConnector ?
[ sender = frontRadar && receiver = dynamicObjectDetection ]
frontCameraVal : FunctionConnector ?
[ sender = frontCamera && receiver = dynamicObjectDetection ]
pointCloudCusterVal : FunctionConnector ?
[ sender = pointCloudClustering && receiver = dynamicObjectDetection ]
dynamicObjects : FunctionConnector ?
[ sender = dynamicObjectDetection && receiver = trajectoryPlanningAP ]
velocityProfile : FunctionConnector ?
[ sender = trajectoryPlanningAP && receiver = speedControl ]
[ no frontRadar => frontCamera ]// Replacement constraints
abstract System
abstract FeatureModel
abstract Architecture
abstract FunctionalAnalysis
abstract HardwareArchitecture
abstract DeviceNodeClassification
abstract CommTopology
abstract PowerTopology
abstract Deployment
abstract Feature
abstract FunctionalAnalysisComponent
deployedTo -> DeviceNode
xor implementation
hardware
[ deployedTo.type in EEDeviceNode, SmartDeviceNode ]
software
[ deployedTo.type in SmartDeviceNode ]
input -> FunctionConnector *
[ this.receiver = parent ]// connectors for which this function is the receiver
output -> FunctionConnector *
[ this.sender = parent ]// connectors for which this function is the sender
degradation -> integer
[ this >= 1 && this <= 3 ]
resultingDegradation -> integer = max input.sender.resultingDegradation.dref, degradation.dref
// level 4 implies that the function is not available
abstract AnalysisFunction : FunctionalAnalysisComponent
abstract FunctionalDevice : FunctionalAnalysisComponent
abstract FunctionConnector
sender -> FunctionalAnalysisComponent
receiver -> FunctionalAnalysisComponent
deployedTo -> HardwareDataConnector ?
[ this.parent in this.deployedFrom ]
[ sender.deployedTo.dref, receiver.deployedTo.dref in deployedTo.endpoint.dref ]
[ sender.deployedTo.dref = receiver.deployedTo.dref <=> no this.deployedTo ]
enum DeviceNodeType = SmartDeviceNode | EEDeviceNode | PowerDeviceNode
abstract DeviceNode
type -> DeviceNodeType
abstract HardwareConnector
abstract PowerConnector : HardwareConnector
source -> DeviceNode
sink -> DeviceNode
abstract LoadPowerConnector : PowerConnector
abstract DevicePowerConnector : PowerConnector
abstract HardwareDataConnector : HardwareConnector
endpoint -> DeviceNode 2..*
deployedFrom -> FunctionConnector 1..*
[ this.deployedTo = this.parent ]
abstract DiscreteDataConnector : HardwareDataConnector
abstract AnalogDataConnector : HardwareDataConnector
abstract BusConnector : HardwareDataConnector
[ all e : endpoint | e.type = SmartDeviceNode ]
xor type
LowSpeedCAN
HighSpeedCAN
LIN
FlexRay
abstract LogicalBusBridge : HardwareDataConnector
bus -> BusConnector 2..2
[ all e : this.endpoint | e.type = SmartDeviceNode ]
abstract ECU : DeviceNode
// Automotive Concepts