Reliability-based design optimization (RBDO) is a powerful tool for design optimization when considering probabilistic characteristics of design variables. However, it is often computationally intensive because of the coupling of reliability analysis and cost minimization. In this study, the concept of reliability mapping function is defined based on the relationship between the reliability index obtained by using the mean value first order reliability method and the failure probability obtained by using an improved response surface method. Double-loop involved in the classical RBDO can be converted into single-loop by using the reliability mapping function. Since the computational effort of the mean value first order reliability method is minimal, RBDO by using reliability mapping functions should be highly efficient. Engineering examples are given to demonstrate the efficiency and accuracy of the proposed method. Numerical results indicated that the proposed method has the similar accuracy as Monte Carlo simulation, and it can obviously reduce the computational effort.