Most of the previous researches on AUV (autonomous underwater vehicle) architecture focused on the autonomy and reactivity of AUV, so the researchers spent most time on the physical structure of AUV, but ignored the psychological (or mental) model of AUV. However, the psychological model is very important for AUV to act in an unexpected and ill-structured undersea environment. In this paper, we propose an AUV neuropsychological architecture (ANPA) based on BDI (belief-desire-intention) and neuropsychological theories. ANPA consists of three units: thinking unit, reflex unit and perception unit, and each unit is composed of three cortices. ANPA combines the mental model of agent with the neural structure of AUV. Based on ANPA, we have developed a simulated AUV with more proactiveness, autonomy and sociability without debasing reactivity.