Requirements traceability is handled in order to help stakeholders understanding existing dependencies between requirements and development artifacts. In this paper, we aim at taking advantage from system engineering and model-driven engineering field in order to automatically generate trace links from SYSML models. Our approach establishes a transformation of requirement diagrams and design diagrams into a trace model. The input SYSML model is compliant with the SYSML4TRACEABILITY profile that helps in capturing all traceability data before performing the transformation. The generated trace model is compliant with a trace meta-model and depicts various links between requirements and design artifacts so as to ensure requirement traceability at different levels of granularity. We experiment this approach by extracting requirements traces relevant to the anti-lock braking system.