ISO/DIS 23150
(Main)Standard Details
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
General Information
Standards Content (sample)
DRAFT INTERNATIONAL STANDARD
ISO/DIS 23150
ISO/TC 22/SC 31 Secretariat: DIN
Voting begins on: Voting terminates on:
2020-05-22 2020-08-14
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 logiqueICS: 43.040.15
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
This document is circulated as received from the committee secretariat.
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Reference number
NATIONAL REGULATIONS.
ISO/DIS 23150:2020(E)
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TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
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ISO/DIS 23150:2020(E)
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© ISO 2020
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ISO/DIS 23150:2020(E)
Contents Page
Foreword ......................................................................................................................................................................... xi
Introduction .................................................................................................................................................................. xii
1 Scope ....................................................................................................................................................................1
2 Normative references ....................................................................................................................................1
3 Terms and definitions ....................................................................................................................................1
3.1 Architectural components ............................................................................................................................1
3.2 Level of detail ....................................................................................................................................................2
3.3 Structure .............................................................................................................................................................3
3.4 Measurement ....................................................................................................................................................3
3.5 Requirement level ...........................................................................................................................................4
3.6 Interfaces ............................................................................................................................................................5
3.7 Axis and coordinate systems .......................................................................................................................7
4 Symbols and abbreviated terms .............................................................................................................. 11
5 Structure of the interface description ................................................................................................... 12
5.1 Signal ................................................................................................................................................................. 12
5.2 Interface ........................................................................................................................................................... 13
5.3 Logical signal group ..................................................................................................................................... 15
5.4 Profile: <…> ..................................................................................................................................................... 15
6 Logical interface from a sensor to a fusion unit ................................................................................ 16
6.1 Generic interface header ........................................................................................................................... 18
6.2 Generic interface entity .............................................................................................................................. 18
6.3 Profile: Uniqueness ...................................................................................................................................... 18
7 Object level ...................................................................................................................................................... 18
7.1 Generic object level interface ................................................................................................................... 19
7.1.1 Generic object level header....................................................................................................................... 19
7.1.2 Generic object level entity ......................................................................................................................... 20
7.2 Potentially moving object interface ....................................................................................................... 21
7.2.1 Potentially moving object header ........................................................................................................... 25
7.2.2 Potentially moving object entity ............................................................................................................. 26
7.3 Road object interface................................................................................................................................... 28
7.3.1 Road object header ...................................................................................................................................... 35
7.3.2 Road object entity ......................................................................................................................................... 36
7.4 Static object interface .................................................................................................................................. 38
7.4.1 Static object header ..................................................................................................................................... 45
7.4.2 Static object entity ........................................................................................................................................ 45
8 Feature level ................................................................................................................................................... 47
8.1 Generic sensor feature interface ............................................................................................................. 48
8.1.1 Generic sensor feature header ................................................................................................................ 49
8.1.2 Generic sensor feature entity ................................................................................................................... 49
8.2 Camera feature interface ........................................................................................................................... 50
8.2.1 Camera feature header ............................................................................................................................... 52
8.2.2 Camera feature entity ................................................................................................................................. 53
8.3 Ultrasonic feature interface ...................................................................................................................... 54
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8.3.1 Ultrasonic feature header ......................................................................................................................... 56
8.3.2 Ultrasonic feature entity ........................................................................................................................... 57
9 Detection level ............................................................................................................................................... 57
9.1 Generic sensor detection interface ........................................................................................................ 58
9.1.1 Generic sensor detections header .......................................................................................................... 58
9.1.2 Generic sensor detections entity ............................................................................................................ 58
9.2 Radar detection interface ......................................................................................................................... 59
9.2.1 Radar detections header ........................................................................................................................... 61
9.2.2 Radar detections entity .............................................................................................................................. 62
9.2.3 Profile: Radar ambiguity ........................................................................................................................... 63
9.3 Lidar detection interface ........................................................................................................................... 63
9.3.1 Lidar detection header ............................................................................................................................... 65
9.3.2 Lidar detection entity ................................................................................................................................. 65
9.4 Camera detection interface ...................................................................................................................... 66
9.4.1 Camera detection header .......................................................................................................................... 68
9.4.2 Camera detection entity............................................................................................................................. 69
9.5 Ultrasonic detection interface ................................................................................................................. 70
9.5.1 Ultrasonic detection header ..................................................................................................................... 71
9.5.2 Ultrasonic detection entity ....................................................................................................................... 72
10 Supportive sensor interfaces ................................................................................................................... 73
10.1 Generic supportive sensor interface ..................................................................................................... 74
10.1.1 Generic supportive sensor header ......................................................................................................... 74
10.1.2 Generic supportive sensor entity ........................................................................................................... 75
10.2 Sensor performance interface ................................................................................................................. 75
10.2.1 Sensor performance header ..................................................................................................................... 78
10.2.2 Sensor performance entity ....................................................................................................................... 80
10.3 Sensor health information interface ..................................................................................................... 80
10.3.1 Sensor health information header ......................................................................................................... 82
10.3.2 Sensor health information entity ........................................................................................................... 83
Annex A (normative) Interface signals .............................................................................................................. 84
A.1 Header signals ............................................................................................................................................... 84
A.1.1 Version ID {major, minor, patch} ........................................................................................................... 84
A.1.2 Sensor ID ......................................................................................................................................................... 84
A.1.3 Interface ID ..................................................................................................................................................... 85
A.1.4 Time stamp – <…> ........................................................................................................................................ 85
A.1.5 <…> counter ................................................................................................................................................... 86
A.1.6 Interface cycle time ..................................................................................................................................... 87
A.1.7 Interface cycle time – variation ............................................................................................................... 88
A.1.8 Data qualifier ................................................................................................................................................. 88
A.1.9 Recognized <…> – capability .................................................................................................................... 89
A.1.10 Recognized <…> – status ............................................................................................................................ 91
A.1.11 Number of valid <…> ................................................................................................................................... 93
A.1.12 Tracking motion model .............................................................................................................................. 97
A.1.13 Motion type ..................................................................................................................................................... 98
A.1.14 Colour model type ........................................................................................................................................ 98
A.1.15 Radial velocity ambiguity domain {begin, end} ................................................................................ 99
A.1.16 Range ambiguity domain {begin, end}.................................................................................................. 99
A.1.17 Angle azimuth ambiguity domain {begin, end} ................................................................................. 99
A.1.18 Angle elevation ambiguity domain {begin, end} ............................................................................... 99
A.1.19 Scope of interface ....................................................................................................................................... 100
A.1.20 Vehicle coordinate system type ............................................................................................................ 100
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A.1.21 Sensor origin position {x, y, z} ............................................................................................................... 101
A.1.22 Sensor origin position – error {x, y, z} ................................................................................................ 101
A.1.23 Sensor orientation {yaw, pitch, roll} ................................................................................................... 101
A.1.24 Sensor orientation – error {yaw, pitch, roll} .................................................................................... 102
A.1.25 Vanishing point {azimuth, elevation} ................................................................................................. 102
A.1.26 Vanishing point – error {azimuth, elevation} .................................................................................. 103
A.2 Object level entity signals ....................................................................................................................... 103
A.2.1 Object ID ........................................................................................................................................................ 104
A.2.2 Object grouping ID .................................................................................................................................... 104
A.2.3 Age ................................................................................................................................................................... 105
A.2.4 Observation – object level ...................................................................................................................... 105
A.2.5 Track quality ............................................................................................................................................... 105
A.2.6 Measurement status – object level ...................................................................................................... 106
A.2.7 Reference point .......................................................................................................................................... 107
A.2.8 Position {x, y, z} .......................................................................................................................................... 109
A.2.9 Position – error {x, y, z}............................................................................................................................ 109
A.2.10 Orientation {yaw, pitch, roll} ................................................................................................................. 110
A.2.11 Orientation – error {yaw, pitch, roll} .................................................................................................. 110
A.2.12 Velocity {x, y, z} ........................................................................................................................................... 110
A.2.13 Velocity – error {x, y, z} ............................................................................................................................ 111
A.2.14 Acceleration {x, y, z} .................................................................................................................................. 111
A.2.15 Acceleration – error {x, y, z} ................................................................................................................... 111
A.2.16 Kinematic point {x, y, z} ........................................................................................................................... 111
A.2.17 Kinematic point – error {x, y, z} ............................................................................................................ 112
A.2.18 Orientation rate kinematic point {yaw} ............................................................................................ 112
A.2.19 Orientation rate kinematic point – error {yaw} ............................................................................. 112
A.2.20 Road level ..................................................................................................................................................... 112
A.2.21 Movement status ........................................................................................................................................ 113
A.2.22 Dimension {length, width, height} ....................................................................................................... 114
A.2.23 Dimension – error {length, width, height} ........................................................................................ 114
A.2.24 Bounding box ground clearance .......................................................................................................... 114
A.2.25 Included geometric structures ............................................................................................................. 115
A.2.26 Existence probability – object level .................................................................................................... 115
A.2.27 Number of valid potentially moving object probability classifications ................................. 116
A.2.28 Potentially moving object classification probability type .......................................................... 116
A.2.29 Potentially moving object classification probability value ........................................................ 117
A.2.30 Number of valid lights .............................................................................................................................. 117
A.2.31 Light type ...................................................................................................................................................... 117
A.2.32 Light status ................................................................................................................................................... 118
A.2.33 Number of valid persons poses ............................................................................................................. 118
A.2.34 Person pose type ........................................................................................................................................ 118
A.2.35 Person pose {yaw, pitch, roll} ................................................................................................................ 120
A.2.36 Person pose – error {yaw, pitch, roll} ................................................................................................. 120
A.2.37 Object lane association ............................................................................................................................ 120
A.2.38 Angle to object edge to lane {left edge right lane, right edge left lane} .................................. 121
A.2.39 Angle to object edge to lane – error {left edge right lane, right edge left lane} ................... 122
A.2.40 Percentage side lane {left, right} .......................................................................................................... 122
A.2.41 Angular position {azimuth} .................................................................................................................... 122
A.2.42 Angular velocity {azimuth} .................................................................................................................... 122
A.2.43 Scale change – object level ...................................................................................................................... 123
A.2.44 Entity radar cross section ....................................................................................................................... 123
A.2.45 Entity lidar reflectivity ............................................................................................................................ 123
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A.2.46 Road type....................................................................................................................................................... 123
A.2.47 Number of valid road surface classifications ................................................................................... 124
A.2.48 Road surface type ....................................................................................................................................... 124
A.2.49 Road surface probability value ............................................................................................................. 124
A.2.50 Number of valid road surface condition classifications ............................................................... 125
A.2.51 Road surface condition type ................................................................................................................... 125
A.2.52 Road surface condition probability value ......................................................................................... 125
A.2.53 Road surface roughness ........................................................................................................................... 126
A.2.54 Number of valid road marking types .................................................................................................. 126
A.2.55 Road marking type .................................................................................................................................... 126
A.2.56 Road marking type – confidence .......................................................................................................... 128
A.2.57 Arrow orientation ...................................................................................................................................... 128
A.2.58 Arrow direction .......................................................................................................................................... 128
A.2.59 Sign type ........................................................................................................................................................ 129
A.2.60 Sign type – confidence .............................................................................................................................. 130
A.2.61 Sign value ...................................................................................................................................................... 130
A.2.62 Sign value unit ............................................................................................................................................. 130
A.2.63 Colour value – object level ...................................................................................................................... 131
A.2.64 Colour classification – confidence ........................................................................................................ 131
A.2.65 Number of valid connections ................................................................................................................. 131
A.2.66 Connection type .......................................................................................................................................... 131
A.2.67 Connection ID .............................................................................................................................................. 132
A.2.68 Number of valid polynomials ................................................................................................................. 132
A.2.69 Polynomial coefficient {c0, c1, c2, c3} ................................................................................................. 133
A.2.70 Polynomial – error ..................................................................................................................................... 133
A.2.71 Polynomial range x {start, end} ............................................................................................................ 134
A.2.72 Width – polynomial ................................................................................................................................... 134
A.2.73 Width – polynomial – error .................................................................................................................... 135
A.2.74 Width – polynomial – confidence ....................................................................................
...
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