textual-notation-of-model/packages/architecture/vehicle_sensing_boundary.sysml

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1/*2 * DE4SDV vehicle sensing boundary architecture model slice.3 *4 * This package models the platform-level sensing boundary between physical5 * sensors and the ADAS application stack. It defines sensor categories,6 * observation semantics, perception pipeline boundary, and the traceability7 * path from sensor outputs to the ROS 2 topic message types consumed by the8 * AEBS physical software realization.9 *10 * Scope:11 *   - Abstract and concrete sensor boundary definitions12 *   - Observation item types bridging sensors to functional vocabulary13 *   - Perception pipeline boundary (raw sensor data to object-level output)14 *   - Vehicle sensing assembly with PLE variation points for sensor selection15 *   - Traceability dependencies from sensors to ROS 2 message types16 *17 * Out of scope:18 *   - Sensor internals (specs, range, resolution, calibration)19 *   - Concrete perception algorithm implementation20 *   - Physical wiring harness or ECU topology21 *   - Sensor-to-OS driver binding22 *23 * Relationship to SDV platform stack:24 *   Sensors reside in the HardwareLayer of the SDV platform stack. This slice25 *   specializes that boundary without coupling to any specific hardware vendor.26 *   Sensor suite composition is a product-line variation point: concrete member27 *   products select sensor variants per the PLE feature model.28 *29 * Relationship to AEBS:30 *   The AEBS physical software realization consumes ROS 2 topics published by31 *   sensors and the perception pipeline. This slice establishes the traceability32 *   from physical sensor types through observation items to those message types.33 *   It does not import AEBS system architecture — the connection is through34 *   typed dependencies, not functional or logical flows.35 *36 * Semantic basis:37 * - SysML v2 specification: variation/variant notation (section 7.9)38 * - Systems-Modeling/SysML-v2-Release:39 *   training/36. Variability/Variation Definitions.sysml (definition-level variations)40 *   validation/07-Variant Configuration/7b-Variant Configurations.sysml (composition)41 */4243package DE4SDV_VehicleSensingBoundary {44  private import DE4SDV_SDVPlatformStack::*;45  private import DE4SDV_AEBSFunctionalBehavior::Features::AEBS::FunctionalBehavior::*;46  private import DE4SDV_AEBSPhysicalSoftwareRealization::*;47  private import SAF_Viewpoints::*;48  private import DE4SDV_Stakeholders::*;49  private import Views::*;5051  /* ──────────────────────────────────────────52   * Sensor boundary abstractions53   * ────────────────────────────────────────── */5455  abstract part def SensorBoundary {56    doc /*57     * Abstract base for physical sensor boundaries at the vehicle sensing58     * layer. Concrete sensor types specialize this boundary and expose a typed59     * sensing output port for their observation stream.60     */6162    port sensingOutputOut : SensingOutputPort;63  }6465  abstract part def PerceptionSensorBoundary :> SensorBoundary {66    doc /*67     * Base boundary for sensors that produce perception-oriented data such as68     * point clouds or object-level detections.69     */70  }7172  abstract part def VehicleStateSensorBoundary :> SensorBoundary {73    doc /*74     * Base boundary for sensors that produce vehicle motion or state data used75     * by the ADAS application stack and downstream vehicle behavior functions.76     */77  }7879  /* ──────────────────────────────────────────80   * Sensor observation abstractions81   * ────────────────────────────────────────── */8283  abstract item def SensorObservation {84    doc /*85     * Abstract base for all sensor outputs crossing the sensing boundary.86     * Concrete observation types carry the semantic meaning of each sensor87     * stream before it is mapped into application-facing software messages.88     */89  }9091  item def PointCloudObservation :> SensorObservation {92    doc /* Raw 3D point cloud data from LiDAR or similar ranging sensors. */93  }9495  item def IMUObservation :> SensorObservation {96    doc /* Inertial measurement data from an IMU sensor. */97  }9899  item def VehicleMotionObservation :> SensorObservation {100    doc /* Vehicle speed, acceleration, and related motion-state observation data. */101  }102103  item def PerceivedObjectObservation :> SensorObservation {104    doc /* Processed object-detection output produced by a perception pipeline. */105  }106107  /*108   * Traceability from sensing observations to functional-behavior item types.109   * These links keep the platform sensing boundary aligned with the AEBS110   * functional-behavior vocabulary without importing system architecture.111   */112  dependency pointCloudObservationSupportsVehicleMotionState from PointCloudObservation to VehicleMotionState;113  dependency imuObservationSupportsVehicleMotionState from IMUObservation to VehicleMotionState;114  dependency vehicleMotionObservationSupportsVehicleMotionState from VehicleMotionObservation to VehicleMotionState;115  dependency perceivedObjectObservationSupportsForwardTargetState from PerceivedObjectObservation to ForwardTargetState;116117  /* ──────────────────────────────────────────118   * Sensing output port definition119   * ────────────────────────────────────────── */120121  port def SensingOutputPort {122    doc /*123     * Generic sensing output port used by physical sensor boundaries and the124     * platform-level perception pipeline boundary.125     */126    out item observation : SensorObservation;127  }128129  /* ──────────────────────────────────────────130   * Concrete sensor boundary specializations131   * ────────────────────────────────────────── */132133  part def LiDARSensorBoundary :> PerceptionSensorBoundary {134    doc /* LiDAR sensor producing 3D point cloud observations. */135    port pointCloudOut : SensingOutputPort;136  }137138  part def RadarSensorBoundary :> PerceptionSensorBoundary {139    doc /* Radar sensor producing object detection observations. */140    port radarObjectOut : SensingOutputPort;141  }142143  part def CameraSensorBoundary :> PerceptionSensorBoundary {144    doc /* Camera sensor producing image-based object detection observations. */145    port cameraObjectOut : SensingOutputPort;146  }147148  part def IMUSensorBoundary :> VehicleStateSensorBoundary {149    doc /* IMU sensor producing inertial motion observations. */150    port imuOut : SensingOutputPort;151  }152153  part def WheelOdometrySensorBoundary :> VehicleStateSensorBoundary {154    doc /* Wheel odometry producing vehicle velocity observations. */155    port velocityOut : SensingOutputPort;156  }157158  /*159   * Traceability from concrete sensor types to observation semantics and ROS 2160   * message types consumed by the AEBS physical software realization.161   */162  dependency lidarProducesPointCloudObservation from LiDARSensorBoundary to PointCloudObservation;163  dependency lidarProducesPointCloud2Message from LiDARSensorBoundary to PointCloud2Message;164  dependency radarProducesPerceivedObjectObservation from RadarSensorBoundary to PerceivedObjectObservation;165  dependency cameraProducesPerceivedObjectObservation from CameraSensorBoundary to PerceivedObjectObservation;166  dependency imuProducesImuObservation from IMUSensorBoundary to IMUObservation;167  dependency imuProducesImuMessage from IMUSensorBoundary to ImuMessage;168  dependency wheelOdometryProducesVehicleMotionObservation from WheelOdometrySensorBoundary to VehicleMotionObservation;169  dependency wheelOdometryProducesVelocityReportMessage from WheelOdometrySensorBoundary to VelocityReportMessage;170171  /* ──────────────────────────────────────────172   * Sensor suite composition173   *174   * Motion sensors (IMU, wheel odometry) are common capabilities required175   * across all member products. They are NOT variation points — they are176   * plain parts of the sensing assembly, not features that distinguish177   * member products (ISO/IEC 26580).178   *179   * Perception sensors (LiDAR, radar, camera) are optional features that180   * distinguish member products. A product may have any combination (LiDAR +181   * camera, radar-only, all three, etc). SysML v2 variation/variant is182   * exclusive choice, so multi-select cannot be expressed as a single183   * variation. Instead, each perception sensor is an independent include/184   * exclude variation point using the [0]/[1] multiplicity pattern (same185   * pattern as the SDV platform stack's hypervisor "none" variant).186   *187   * The PLE feature model (sdv_product_line.yaml) uses or_group for perception188   * sensors, which expresses multi-select at the feature level. The189   * configurator resolves the YAML selections and annotates which sensors190   * are enabled in the generated product-model projection.191   * ────────────────────────────────────────── */192193  part def SensorSuite {194    doc /* Abstract composite of one or more physical sensor boundaries selected for a member product. */195  }196197  /*198   * Perception sensor variation points — independent include/exclude per199   * sensor. Each variation offers a present [1] or absent [0] variant.200   * A configured product selects present or absent for each independently,201   * enabling any combination (LiDAR + camera, radar-only, all three, etc).202   */203  variation part lidarSensor : LiDARSensorBoundary {204    variant part lidarPresent[1] : LiDARSensorBoundary;205    variant part lidarAbsent[0];206  }207208  variation part radarSensor : RadarSensorBoundary {209    variant part radarPresent[1] : RadarSensorBoundary;210    variant part radarAbsent[0];211  }212213  variation part cameraSensor : CameraSensorBoundary {214    variant part cameraPresent[1] : CameraSensorBoundary;215    variant part cameraAbsent[0];216  }217218  /* ──────────────────────────────────────────219   * Perception pipeline boundary220   * ────────────────────────────────────────── */221222  part def PerceptionPipelineBoundary {223    doc /*224     * Boundary between raw sensor observations and processed perception outputs225     * consumed by ADAS applications. The perception pipeline fuses raw sensor226     * data into object-level perception results. Concrete perception227     * implementation (e.g. Autoware perception stack) is a separate concern.228     */229230    port rawSensorIn : SensingOutputPort;231    port perceivedObjectsOut : SensingOutputPort;232  }233234  dependency perceptionPipelineProducesPerceivedObjectObservation from PerceptionPipelineBoundary to PerceivedObjectObservation;235  dependency perceptionPipelineProducesPredictedObjectsMessage from PerceptionPipelineBoundary to PredictedObjectsMessage;236  dependency perceptionPipelineRelaysPointCloud2Message from PerceptionPipelineBoundary to PointCloud2Message;237238  /* ──────────────────────────────────────────239   * Vehicle sensing assembly240   * ────────────────────────────────────────── */241242  part def VehicleSensingAssembly {243    doc /*244     * Platform-level sensing assembly for an SDV member product. Composes245     * common motion sensors (present in all member products) with optional246     * perception sensors (selected per product-line configuration) and the247     * perception pipeline.248     */249250    // Common capabilities — present in all member products, not variation points251    part imuSensor : IMUSensorBoundary;252    part wheelOdometrySensor : WheelOdometrySensorBoundary;253254    // Perception sensor variation points — independent include/exclude per sensor255    variation part lidarSensor : LiDARSensorBoundary;256    variation part radarSensor : RadarSensorBoundary;257    variation part cameraSensor : CameraSensorBoundary;258259    part perceptionPipeline : PerceptionPipelineBoundary;260  }261262  /*263   * The sensing assembly resides in the hardware layer of the SDV platform264   * stack. This dependency makes the stack relationship explicit without265   * modeling internal hardware topology.266   */267  dependency sensingAssemblyResidesInHardwareLayer from VehicleSensingAssembly to HardwareLayer;268269  /* ──────────────────────────────────────────270   * SAF physical-domain concern and view271   * ──────────────────────────────────────────272   * Uses SAF PhysicalStructureDefinitionViewpoint (P2_PSTD) — not an273   * invented viewpoint. The sensing boundary is a physical/software274   * structure that needs to be visible for integration review.275   */276277  concern sensingBoundaryStructureConcern : PhysicalStructureConcern {278    doc /*279     * Reviewers need the sensor-to-application traceability boundary to be280     * visible: which physical sensors produce the observations that feed the281     * ADAS application stack.282     */283    subject;284    stakeholder systemsEngineer : SystemsEngineer;285    stakeholder reviewer : OpenSourceReviewer;286  }287288  view sensingBoundaryView {289    viewpoint selectedPhysicalStructureViewpoint : PhysicalStructureDefinitionViewpoint {290      frame sensingBoundaryStructureConcern;291    }292293    expose SensorBoundary;294    expose PerceptionSensorBoundary;295    expose VehicleStateSensorBoundary;296    expose SensorObservation;297    expose PointCloudObservation;298    expose IMUObservation;299    expose VehicleMotionObservation;300    expose PerceivedObjectObservation;301    expose SensingOutputPort;302    expose LiDARSensorBoundary;303    expose RadarSensorBoundary;304    expose CameraSensorBoundary;305    expose IMUSensorBoundary;306    expose WheelOdometrySensorBoundary;307    expose SensorSuite;308    expose PerceptionPipelineBoundary;309    expose VehicleSensingAssembly;310    expose pointCloudObservationSupportsVehicleMotionState;311    expose imuObservationSupportsVehicleMotionState;312    expose vehicleMotionObservationSupportsVehicleMotionState;313    expose perceivedObjectObservationSupportsForwardTargetState;314    expose lidarProducesPointCloudObservation;315    expose lidarProducesPointCloud2Message;316    expose radarProducesPerceivedObjectObservation;317    expose cameraProducesPerceivedObjectObservation;318    expose imuProducesImuObservation;319    expose imuProducesImuMessage;320    expose wheelOdometryProducesVehicleMotionObservation;321    expose wheelOdometryProducesVelocityReportMessage;322    expose perceptionPipelineProducesPerceivedObjectObservation;323    expose perceptionPipelineProducesPredictedObjectsMessage;324    expose perceptionPipelineRelaysPointCloud2Message;325    expose SensorSuite;326    expose sensingAssemblyResidesInHardwareLayer;327    render asTreeDiagram;328  }329}330