ISO 23150:2021

Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface

This document is applicable to road vehicles with automated driving functions. The document specifies the logical interface between in-vehicle environmental perception sensors (for example, radar, lidar, camera, ultrasonic) and the fusion unit which generates a surround model and interprets the scene around the vehicle based on the sensor data. The interface is described in a modular and semantic representation and provides information on object level (for example, potentially moving objects, road objects, static objects) as well as information on feature and detection levels based on sensor technology specific information. Further supportive information is available. This document does not provide electrical and mechanical interface specifications. Raw data interfaces are also excluded.

Véhicules routiers — Communication de données entre capteurs et unité de fusion de données pour les fonctions de conduite automatisée — Interface logique

General Information

• Status: Withdrawn
• Publication Date: 25-May-2021
• ICS: 43.040.15 - Car informatics. On board computer systems
• Technical Committee: ISO/TC 22/SC 31 - Data communication
• Drafting Committee: ISO/TC 22/SC 31/WG 9 - Sensor data interface for automated driving functions
• Current Stage: 9599 - Withdrawal of International Standard
• Start Date: 31-May-2023
• Completion Date: 19-Apr-2025

Relations

• Revised: ISO 23150:2023 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
• Effective Date: 06-Jun-2022

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 23150
First edition
2021-05
Road vehicles — Data communication
between sensors and data fusion unit
for automated driving functions —
Logical interface
Véhicules routiers — Communication de données entre capteurs et
unité de fusion de données pour les fonctions de conduite automatisée
— Interface logique
Reference number
©
ISO 2021
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
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Published in Switzerland
ii © ISO 2021 – All rights reserved

Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
3.1 Architectural components . 1
3.2 Level of detail terms . 2
3.3 Structure terms . 3
3.4 Measurement terms. 3
3.5 Requirement level terms . 5
3.6 Road user relevant entity types . 5
3.7 Axis and coordinate system terms . 7
4 Abbreviated terms .11
5 Structure of the interface description .12
5.1 General .12
5.2 Signal .13
5.3 Interface .13
5.4 Specific signal grouping .14
5.5 Profile .15
6 Logical interface from a sensor as well as a sensor cluster to a fusion unit .15
6.1 General .15
6.2 Generic interface header .18
6.3 Generic interface entity .18
6.4 Profile: Uniqueness of interface versioning .18
7 Object level .19
7.1 General .19
7.2 Generic object level interface .19
7.2.1 Generic object level header.20
7.2.2 Generic object level entity .20
7.3 Potentially moving object interface .21
7.3.1 Potentially moving object header .27
7.3.2 Potentially moving object entity .28
7.3.3 Profile: Motion .29
7.4 Road object interface .30
7.4.1 Road object header .40
7.4.2 Road object entity .42
7.4.3 Profile: Colour model for RDOI .44
7.5 Static object interface .44
7.5.1 Static object header .58
7.5.2 Static object entity .59
7.5.3 Profile: Colour model for SOI .61
8 Feature level .61
8.1 General .61
8.2 Generic sensor cluster feature interface .62
8.2.1 Generic sensor cluster feature header .62
8.2.2 Generic sensor cluster feature entity .63
8.3 Camera feature interface .64
8.3.1 Camera feature header .67
8.3.2 Camera feature entity .68
8.3.3 Profile: Colour model for CFI .70
8.4 Ultrasonic feature interface .70
8.4.1 Ultrasonic feature header.73
8.4.2 Ultrasonic feature entity .74
9 Detection level .74
9.1 General .74
9.2 Generic sensor detection interface .75
9.2.1 Generic sensor detections header.75
9.2.2 Generic sensor detections entity .76
9.3 Radar detection interface .76
9.3.1 Radar detections header .79
9.3.2 Radar detections entity .80
9.3.3 Profile: Radar ambiguity .81
9.4 Lidar detection interface .81
9.4.1 Lidar detection header .84
9.4.2 Lidar detection entity .85
9.5 Camera detection interface .85
9.5.1 Camera detection header.88
9.5.2 Camera detection entity .89
9.5.3 Profile: Colour model for CDI .90
9.6 Ultrasonic detection interface .90
9.6.1 Ultrasonic detection header .93
9.6.2 Ultrasonic detection entity .94
9.6.3 Profile: Ultrasonic sensor cluster .95
10 Supportive sensor interfaces .
...