ISO/DTS 22726-1

Intelligent transport systems — Dynamic data and map database specification for connected and automated driving system applications — Part 1: Architecture and logical data model for harmonization of static map data

Systèmes de transport intelligents — Spécification de données dynamiques et de bases de données cartographiques pour les applications de système de conduite connectées et automatisées — Partie 1: Architecture et modèle logique de données pour l'harmonisation des données cartographiques statiques

General Information

• Status: Not Published
• ICS: 03.220.20 - Road transport
• ICS: 35.240.60 - IT applications in transport
• Technical Committee: ISO/TC 204 - Intelligent transport systems
• Drafting Committee: ISO/TC 204/WG 3 - ITS geographic data
• Current Stage: 5020 - FDIS ballot initiated: 2 months. Proof sent to secretariat
• Start Date: 16-Mar-2023
• Completion Date: 16-Mar-2023

Standards Content (Sample)

FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 22726-1
ISO/TC 204
Intelligent transport systems —
Secretariat: ANSI
Dynamic data and map database
Voting begins on:
2023-03-16 specification for connected
and automated driving system
Voting terminates on:
2023-05-11
applications —
Part 1:
Architecture and logical data model
for harmonization of static map data
Systèmes de transport intelligents — Spécification de données
dynamiques et de bases de données cartographiques pour les
applications de système de conduite connectées et automatisées —
Partie 1: Architecture et modèle logique de données pour
l'harmonisation des données cartographiques statiques
RECIPIENTS OF THIS DRAFT ARE INVITED TO
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DTS 22726-1:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2023
---------------------- Page: 1 ----------------------
ISO/DTS 22726-1:2023(E)
FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 22726-1
ISO/TC 204
Intelligent transport systems —
Secretariat: ANSI
Dynamic data and map database
Voting begins on:
specification for connected
and automated driving system
Voting terminates on:
applications —
Part 1:
Architecture and logical data model
for harmonization of static map data
Systèmes de transport intelligents — Spécification de données
dynamiques et de bases de données cartographiques pour les
applications de système de conduite connectées et automatisées —
Partie 1: Architecture et modèle logique de données pour
l'harmonisation des données cartographiques statiques
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023

All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may

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the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below

or ISO’s member body in the country of the requester.
RECIPIENTS OF THIS DRAFT ARE INVITED TO
ISO copyright office
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
CP 401 • Ch. de Blandonnet 8
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
CH-1214 Vernier, Geneva
DOCUMENTATION.
Phone: [phone]
IN ADDITION TO THEIR EVALUATION AS
Reference number
Email: [e-mail]
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DTS 22726-1:2023(E)
Website: www.iso.org
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
Published in Switzerland
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
© ISO 2023 – All rights reserved
NATIONAL REGULATIONS. © ISO 2023
---------------------- Page: 2 ----------------------
ISO/DTS 22726-1:2023(E)
Contents Page

Foreword ........................................................................................................................................................................................................................................iv

Introduction .................................................................................................................................................................................................................................v

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ..................................................................................................................................................................................... 1

3 Terms and definitions .................................................................................................................................................................................... 1

4 Abbreviated terms and symbols .........................................................................................................................................................3

5 Document structure and conformance ........................................................................................................................................ 4

5.1 Document structure .......................................................................................................................................................................... 4

5.2 Conformance ............................................................................................................................................................................................ 4

6 Architecture.............................................................................................................................................................................................................. 4

7 Logical data model of map data ........................................................................................................................................................... 5

7.1 Overall data model of map data............................................................................................................................................... 5

7.2 Transportation package ................................................................................................................................................................. 6

7.3 MHAD package ....................................................................................................................................................................................... 7

7.3.1 General ........................................................................................................................................................................................ 7

7.3.2 RoadBeltNetwork package ..................................................................................................................................... 11

7.3.3 LaneBeltNetwork package ...................................................................................................................................... 45

7.3.4 RoadStructureAndEquipment package ...................................................................................................... 62

7.3.5 CommonPropertyClasses package ...............................................................................................................127

7.4 Relationship to dynamic information ..........................................................................................................................137

7.4.1 General ..................................................................................................................................................................................137

7.4.2 RoadNetworkElement .............................................................................................................................................137

Annex A (normative) Abstract test suite .................................................................................................................................................. 138

Annex B (informative) Basic data types and stereotypes — concepts and definitions ......................... 139

Annex C (informative) Resolution and accuracy of the MHAD ...........................................................................................141

Annex D (informative) Comparison of the road network models of MHAD and existing map

models ...................................................................................................................................................................................................................... 143

Bibliography ......................................................................................................................................................................................................................... 146

iii
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ISO/DTS 22726-1:2023(E)
Foreword

ISO (the International Organization for Standardization) is a worldwide federation of national standards

bodies (ISO member bodies). The work of preparing International Standards is normally carried out

through ISO technical committees. Each member body interested in a subject for which a technical

committee has been established has the right to be represented on that committee. International

organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.

ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the

different types of ISO documents should be noted. This document was drafted in accordance with the

editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of

any patent rights identified during the development of the document will be in the Introduction and/or

on the ISO list of patent declarations received (see www.iso.org/patents).

Any trade name used in this document is information given for the convenience of users and does not

constitute an endorsement.

For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and

expressions related to conformity assessment, as well as information about ISO's adherence to

the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see

www.iso.org/iso/foreword.html.

This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.

A list of all parts in the ISO 22726 series can be found on the ISO website.

Any feedback or questions on this document should be directed to the user’s national standards body. A

complete listing of these bodies can be found at www.iso.org/members.html.
© ISO 2023 – All rights reserved
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ISO/DTS 22726-1:2023(E)
Introduction

In response to emerging automated driving system (ADS) development, a new requirement for an

intelligent transport system (ITS) map database standard has been raised to define a set of models for

highly confident map data.

The data used in ADS are categorized into static data (i.e. map for highly automated driving (MHAD) and

traditional map data) and dynamic data (e.g. traffic and travel information). These data are mutually

related and linked to support ADS. The data model for ADS should have a structure specialized for

automated driving and be presented in a manner useable for ADS.

In the case of static map data used by ITS, ISO 14296 specifies a logical data model applied to vehicle

navigation systems and cooperative ITS (C-ITS). The data model of ISO 14296 is insufficient for ADS

because of limitations to represent detailed or accurate carriageway and road-related features. In

addition, new relationships between new map features and dynamic data are defined.

Even though GDF 5.1 (ISO 20524-2) defines map data used in ADS such as road belts or lane belts as

detailed road map data, it focuses on a data model for exchanging and provisioning map data between

map makers and data centres. The GDF model which is based on three catalogues (Feature, Attribute,

and Relationship) is inefficient not only for storing ITS map data in a database but also to be able to

access that data rapidly in vehicles. Therefore, this document defines a database standard to quickly

and directly access detailed road map entities and their related information.

The purpose of this document is to define a data model for connected and automated driving systems.

Implementation of this document can potentially lead to cost reductions in maintenance and expansion

of map access libraries, as well as reductions in compilation and maintenance costs of map and map-

related data for data providers for connected and automated driving, and vehicle control applications.

© ISO 2023 – All rights reserved
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TECHNICAL SPECIFICATION ISO/DTS 22726-1:2023(E)
Intelligent transport systems — Dynamic data and map
database specification for connected and automated
driving system applications —
Part 1:
Architecture and logical data model for harmonization of
static map data
1 Scope

This document specifies the architecture and the logical data model of static map data for connected

and automated driving system applications.
2 Normative references

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments) applies.

ISO/IEC 19501, Information technology — Open Distributed Processing — Unified Modeling Language

(UML) Version 1.4.2
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.

ISO and IEC maintain terminological databases for use in standardization at the following addresses:

— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
belt

configuration concept for specifying an area bounded by side lines and terminal lines, characterized by

directions and represented as one or more linear axes when skeletonized

Note 1 to entry: The number of skeletonized axes differs depending on the feature class. In the case of a belt

applied to a one-way lane, the number is one. When applied to an intersection, the belt has axes corresponding to

the number of unique allowable traffic directions.
[SOURCE: ISO 20524-2:2020, 3.2]
3.2
direction

signature of belt, determined by an allowed connection between a pair of terminal lines

[SOURCE: ISO 20524-2:2020, 3.3]
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ISO/DTS 22726-1:2023(E)
3.3
belt feature

two-dimensional Feature, represented by belt concept, bounded by three or more Edges or four or more

NET coordinate Tuple
[SOURCE: ISO 20524-2:2020, 3.1, modified — "represented by belt concept" added.]
3.4
feature
database representation of a real-world object
[SOURCE: ISO 20524-1:2020, 3.4.9]
3.5
link

directed topological connection between two nodes, composed of an ordered sequence of one or more

segments and represented by an ordered sequence of zero or more shape points
[SOURCE: ISO/TS 20452:2007, 3.19]
3.6
node

data model entity for a topological junction of two or more links or end bounding a link

Note 1 to entry: A link stores the coordinate value of the corresponding GDF junction.

[SOURCE: ISO/TS 20452:2007, 3.23]
3.7
partition line

transversal line representing the boundary of a segment set to a road belt element and a lane belt

element, and both terminations are set on the sideline of road belt element or lane belt element

3.8
probe data

vehicle sensor information formatted as probe data elements and/or probe messages that are processed,

formatted and transmitted to a land-based centre for processing to create a good understanding of the

driving environment
[SOURCE: ISO 24100:2010, 3.14]
3.9
road feature
feature, specified by a belt, that represents an area for vehicle travel
EXAMPLE Carriageways, intersections and lanes are examples of road features.

Note 1 to entry: This is a general term for the roadway, carriageways, intersections and lanes, and does not

contain the sidewalks and paths for pedestrians.
3.10
sideline
side line
type of boundary line constituting a belt feature other than a terminal line

[SOURCE: ISO 20524-2:2020, 3.4, modified — The admitted term "side line" has been added.]

3.11
terminal line

type of boundary line constituting a belt feature and designated for determining a direction of a belt

feature in combination with another terminal line
[SOURCE: ISO 20524-2:2020, 3.5]
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ISO/DTS 22726-1:2023(E)
4 Abbreviated terms and symbols
ADS automated driving system
C-ITS cooperative ITS
CMS changeable message sign
GNSS Global Navigation Satellite System
IAP IntersectionAnchorPosition
IB IntersectionBelt
IBSd IntersectionBeltSideline
IBTr IntersectionBeltTerminalLine
ICP IntersectionConnectionPoint
ITS intelligent transport system
LAP lane anchor position
LBE LaneBeltElement
LBJ LaneBeltJoint
LBSd LaneBeltSideline
LBSg LaneBeltSegment
LBSSg LaneBeltSidelineSegment
LBTr LaneBeltTerminalLine
LCP LaneConnectionPoint
MHAD map for highly automated driving
POI point of interest
RAP RoadAnchorPosition
RBE RoadBeltElement
RBS RoadBeltSection
RBSg RoadBeltSegment
RBSd RoadBeltSideline
RBSSg RoadBeltSidelineSegment
RBTr RoadBeltTerminalLine
RSE RoadStructuresAndEquipment
RTK-GPS real time kinematics - global positioning system
VMS variable message sign
© ISO 2023 – All rights reserved
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ISO/DTS 22726-1:2023(E)
5 Document structure and conformance
5.1 Document structure
This document contains the following main clauses, subclauses and annexes:
— Conformance (5.2)
— Architecture (Clause 6)
— Logical data model of map data (Clause 7)
— Overall data model of map data (7.1)
— Transportation package (7.2)
— MHAD package (7.3)
— Relationship to dynamic information (7.4)
— Annex A (normative) Abstract test suite
— Annex B (normative) Basic data types and stereotypes
— Annex C (informative) Rsolution and accuracy of the MHAD

— Annex D (informative) Comparison of the road network models of MHAD and existing map models

5.2 Conformance
Data model structures shall be provided as specified in Clause 7.

Any data structure claiming conformance with this document shall pass the requirements presented in

the abstract test suite in Annex A.
UML expressions for diagrams in this document shall conform to ISO/IEC 19501.

Throughout this document, the data types and stereotypes as defined in Table B.1 apply.

6 Architecture

Automated driving systems (ADSs) and their applications can refer to both static map data and dynamic

information data. In addition, ITS stations in automated driving vehicles, connected vehicles and road

equipment can collect sensing data, such as contradictions between the static map and features of the

real world, traffic data, and travel information, and distribute them as probe data.

Figure 1 depicts the conceptual system architecture of map data in an ITS station for an ADS.

In ITS vehicle stations that correspond to ADSs, the application uses map data (MHAD) and additional

dynamic data. The original data, along with updates of the MHAD data and dynamic data, are intended

to be provided through external transmitted messages received from outside of the station. Automated

driving applications also use data collected from both in-vehicle and roadside mounted sensors and can

also use conventional map data which complements the applications to which the navigation system

and/or C-ITS refer.
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ISO/DTS 22726-1:2023(E)
Figure 1 — Conceptual system architecture
7 Logical data model of map data
7.1 Overall data model of map data

The overall map data model for ITS is adopted from the model defined in ISO 14296 which consists of

the following packages:

— AddressLocation: location information based on various types of information both on the Earth and

in the map data;
— Cartographic: terrain map information for expressing a visual map;

— Service&POI: information of the services and POI that exist in a fixed location;

— Transportation: information concerning fixed features for transportation; and

— DynamicInformation: external information in association with transportation data for providing

real-time conditions and/or status.

To support ADS, both the Transportation and DynamicInformation packages are expanded.

The DynamicInformation package is specified in ISO/TS 22726-2:— .
The overall map data model is shown in Figure 2.
1) Under preparation. Stage at the time of publication ISO/AWI TS 22726-2:2023.
© ISO 2023 – All rights reserved
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ISO/DTS 22726-1:2023(E)
Key
A ISO/TS 22726-1 (this document)
B ISO/TS 22726-2
Figure 2 — Overall map data model
7.2 Transportation package

Following the addition of the MHAD package to the Transportation package, the updated package

consists of the following:

— MHAD: data for road belt network, lane belt network, and road structures and equipment for

connected and automated driving systems;

— TransferZoneNetwork: information concerning place and connected network for transferring with

the transport network;
— RoadNetwork: static road data using linear network modelling;

— PublicTransportationNetwork: static network data for the public transportation system;

— BicyclePathNetwork: static path network data for bicycle movement; and
— PedestrianPathNetwork: static path network data for pedestrian movement.
The overview of the Transportation package is shown in Figure 3.

The TransferZoneNetwork package and the RoadNetwork package are defined in ISO 14296.

The RoadNetwork package contains features represented by links and nodes, in multiple levels

corresponding to the concept of different map scales. The features in the MHAD package can be related

to road features such as RoadElement, Intersection, IntersectionLink, IntersectionConnectionPoint and

Lane in the RoadNetwork package and are described in Clause D.2.
This document only defines the specifications of features in the MHAD package.
© ISO 2023 – All rights reserved
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ISO/DTS 22726-1:2023(E)
Key
A ISO/TS 22726-1 (this document)
B ISO 14296
C other standards
Figure 3 — Transportation package
7.3 MHAD package
7.3.1 General
7.3.1.1 Configuration of MHAD package

A connected and/or automated driving system requires the road belt network data, the lane belt

network data and the road structures and equipment data related to road features. The MHAD

represents the data model for a static map of the road and consists of the following packages:

— RoadBeltNetwork package — defines belt features and relevant features which compose road-level

networks;

— LaneBeltNetwork package — defines belt features and relevant features which compose lane-level

networks;

— RoadStructureAndEquipment package — defines road structures and road equipment which are

related to road-level and/or lane-level networks;

— CommonPropertyClasses package — defines the data classes commonly used in multiple sub-

packages belonging to the MHAD package.
Figure 4 shows the package configuration of the MHAD package.

The MHAD package contains an MHAD class which is defined as the root class for the entire package.

© ISO 2023 – All rights reserved
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ISO/DTS 22726-1:2023(E)
Figure 4 — MHAD package diagram

Figure 5 shows the classes and relationships for expressing the hierarchical model of the MHAD

package.
Figure 5 — Class diagram of MHAD package
© ISO 2023 – All rights reserved
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ISO/DTS 22726-1:2023(E)
7.3.1.2 Belt concept for roadway, intersection and lane

Roadways and intersections are expressed by lines and points in conventional road network data

models. However, emerging ITS applications (e.g. lane keeping for C-ITS and automated driving systems)

require highly defined information that enables the vehicle to identify where it is driving in a lane, and

in which lane it is allowed to drive in order to overtake other vehicles.

To provide such information, road features, such as the roadway, intersections and lanes need to be

expressed by specific area features which have characteristics implying directions and/or trajectories

of moving vehicles. An instance of this specific area feature is transformed into a directed line that

corresponds to a possible directed trajectory of regular vehicle movement when it is degenerated by

means of a mathematical morphology transformation.

A conventional data model enables a vehicle to identify in which road and/or lane it is driving. However,

an area feature in the conventional data model merely expresses a space for free motion and does not

imply any specific directions. Thus, the area feature in the conventional data model does not meet the

requirements of emerging ITS applications.

The "belt concept" and belt features specified in ISO 20524-2 meet the recommendation that roads,

intersections and lanes should be represented by a specific area feature with the directions defined as

their characteristics. As illustrated in Figure 6, a belt feature is a specific area feature which is bounded

by a combination of sidelines and terminal lines.

In the case of a road [Figure 6 a)], a belt has at least one directional characteristic, the “direction”.

Additionally, the belt can have other characteristics which include the widths of the belt that are

calculated as the distance between a pair of sidelines for that belt. The value width should be associated

with a measure on the degenerated line representing the belt feature.

The terminal lines define the characteristics of the belt direction. In the case of an intersection

[Figure 6 b)], a belt has at least two directional characteristics. Widths of a belt are calculated as the

distance between a pair of sidelines which determine both sides of the belt except in an intersection.

In the belt data model, terminal lines are conceptually represented and assumed to function as

"directional control valves" at both ends of a flow. Sidelines are also conceptually represented and can

refer to real road-related objects (e.g. lane markings, flow-markings, kerbs, guardrails, etc.).

a) Road b) Intersection
Key
1 terminal line 3 direction
2 side line 4 belt
Figure 6 — Example of belt structure

In the MHAD package, road features are instantiated as features in a RoadBeltNetwork package and a

LaneBeltNetwork package.
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ISO/DTS 22726-1:2023(E)

7.3.1.3 Relationship between road feature and road structures and equipment feature

In the real world, there are various features located at or along roads such as road markings, traffic

signals, kerbs, manholes, fences, walls, guardrails and poles. These features are referred to as road

structures or road equipment and are instantiated as features in the RoadStructureAndEquipment

package in MHAD.

As road structures and road equipment are located at or along a road, they can have relationships

with road features such as those defined by the RoadBeltNetwork package and the LaneBeltNetwork

package. When road structures and road equipment are interrelated, it is necessary to define the

specific location on the road feature that relates to the corresponding part of the road structures and

road equipment.

EXAMPLE The outline of a kerb represents the boundary of the kerb itself and at the same time represents a

part of a sideline of the road feature where that kerb is located.

In the MHAD data model, road features have anchor positions that are used to associate road structures

or pieces of road equipment to the road and indicate the position where the road structures and/or

road equipment is anchored to the road feature.

A projection point is a point positioned on the geometry of the road structures and road equipment

and associated to the anchor position. A projection line is an outline of the road structures or road

equipment, partly specified by a pair of projection points. Both the projection point and project line

of road structures or road equipment are designed to include traffic restrictions due to the physical

properties of the road structures and road equipment, and they can be used as reference positions for

positioning functions. Anchor positions are defined as RoadAnchorPosition, IntersectionAnchorPosition

and LaneAnchorPosition in either a RoadBeltNetwork or LaneBeltNetwork package.

Figure 7 shows examples of the relationship of anchor positions and projection points between a road

belt element and a bridge and a guardrail.

Figure 7 — Example of relationship between a road belt element and a bridge and a guardrail

7.3.1.4 MHAD class

The MHAD class is the root class of the MHAD package and has three composition relationships.

Table 1 defines the details of the MHAD class.
Table 1 — MHAD class
Class<>: MHAD

Dataset representing the static road network map which consists of the datasets of

Definition

the road belt network, the lane belt network, and the road structures and equipment.

Definition
Role/Attribute name
Value type Multiplicity Stereotypes Note/Constraint
Specifies road belt
...

© ISO #### – All rights reserved
ISO/TS 22726-1:2023(E)
ISO /TC 204/WG 3/SWG 3.2
rev15 2022-10-23
Date: 2023-03
Secretariat: ANSI
Intelligent transport systems — Dynamic data and map database specification for
connected and automated driving system applications — Part 1: Architecture and
logical data model for harmonization of static map data
Warning for WDs and CDs

This document is not an ISO International Standard. It is distributed for review and comment. It is subject

to change without notice and may not be referred to as an International Standard.

Recipients of this draft are invited to submit, with their comments, notification of any relevant patent

rights of which they are aware and to provide supporting documentation.
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© ISO 2020
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ISO #####-#:####(X/DTS 22726-1:2022(E)
© ISO 2023

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 on the internet or an intranet, without

prior written permission. Permission can be requested from either ISO at the address below or

ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Website: www.iso.orgwww.iso.org
Published in Switzerland
iv © ISO #### – All rights reserved
iv © ISO 2023 – All rights reserved
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ISO #####-#:####(X/DTS 22726-1:2022(E)
Contents

Foreword ................................................................................................................................................................ iv

Introduction .......................................................................................................................................................... iv

1 Scope .......................................................................................................................................................... 1

2 Normative references .......................................................................................................................... 1

3 Terms and definitions .......................................................................................................................... 1

4 Abbreviated terms and symbols ...................................................................................................... 2

5 Conformance ........................................................................................................................................... 3

6 Architecture ............................................................................................................................................. 3

7 Logical data model of map data ........................................................................................................ 4

7.1 Overall data model of map data ....................................................................................................... 4

7.2 Transportation package ...................................................................................................................... 5

7.3 MHAD package ........................................................................................................................................ 6

7.3.1 General ...................................................................................................................................................... 6

7.3.2 RoadBeltNetwork package ................................................................................................................. 9

7.3.3 LaneBeltNetwork package .............................................................................................................. 40

7.3.4 RoadStructureAndEquipment package ...................................................................................... 56

7.3.5 CommonPropertyClasses package ............................................................................................ 115

7.4 Relationship to dynamic information ...................................................................................... 124

7.4.1 General ................................................................................................................................................ 124

7.4.2 RoadNetworkElement .................................................................................................................... 125

Annex A (normative) Abstract test suite .............................................................................................. 126

Annex B (normative) Basic data types and stereotypes ................................................................. 127

Annex C (informative) Resolution and accuracy of the MHAD ..................................................... 129

Annex D (informative) Comparison of the road network models of MHAD and existing map

models ................................................................................................................................................. 130

Bibliography .................................................................................................................................................... 133

Foreword .............................................................................................................................................................. vii

Introduction ....................................................................................................................................................... viii

1 Scope .......................................................................................................................................................... 1

2 Normative references .......................................................................................................................... 1

3 Terms and definitions .......................................................................................................................... 1

4 Abbreviated terms and symbols ...................................................................................................... 3

5 Document structure and conformance .......................................................................................... 5

5.1 Document structure .............................................................................................................................. 5

5.2 Conformance ........................................................................................................................................... 6

6 Architecture ............................................................................................................................................. 6

© ISO #### – All rights reserved v
© ISO 2023 – All rights reserved v
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7 Logical data model of map data ....................................................................................................... 8

7.1 Overall data model of map data ....................................................................................................... 8

7.2 Transportation package ...................................................................................................................10

7.3 MHAD package .....................................................................................................................................12

7.3.1 General ....................................................................................................................................................12

7.3.2 RoadBeltNetwork package ..............................................................................................................18

7.3.3 LaneBeltNetwork package ...............................................................................................................63

7.3.4 RoadStructureAndEquipment package .......................................................................................87

7.3.5 CommonPropertyClasses package ............................................................................................. 168

7.4 Relationship to dynamic information ....................................................................................... 180

7.4.1 General ................................................................................................................................................. 180

7.4.2 RoadNetworkElement .................................................................................................................... 181

Annex A (normative) Abstract test suite ............................................................................................... 182

Annex B (informative) Basic data types and stereotypes — concepts and definitions........ 183

Annex C (informative) Resolution and accuracy of the MHAD ..................................................... 186

Annex D (informative) Comparison of the road network models of MHAD and existing map

models .................................................................................................................................................. 188

Bibliography ..................................................................................................................................................... 192

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Foreword

ISO (the International Organization for Standardization) is a worldwide federation of national standards

bodies (ISO member bodies). The work of preparing International Standards is normally carried out

through ISO technical committees. Each member body interested in a subject for which a technical

committee has been established has the right to be represented on that committee. International

organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO

collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the

different types of ISO documents should be noted. This document was drafted in accordance with the

editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).

Attention is drawn to the possibility that some of the elements of this document canmay be the subject of

patent rights. ISO shouldshall not be held responsible for identifying any or all such patent rights. Details

of any patent rights identified during the development of the document will be in the Introduction and/or

on the ISO list of patent declarations received (see www.iso.org/patents).

Any trade name used in this document is information given for the convenience of users and does not

constitute an endorsement.

For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and

expressions related to conformity assessment, as well as information about ISO's adherence to the World

Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see

www.iso.org/iso/foreword.html.

This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.

A list of all parts in the ISO 22726 series can be found on the ISO website.

Any feedback or questions on this document should be directed to the user’s national standards body. A

complete listing of these bodies can be found at www.iso.org/members.html.
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Introduction

In response to emerging automated driving system (ADS) development, a new requirement for an

intelligent transport system (ITS) map database standard has been raised to define a set of models for

highly confident map data.

The data used in ADS are categorized into static data (i.e. map for highly automated driving (MHAD) and

traditional map data) and dynamic data (e.g. traffic and travel information). These data are mutually

related and linked to support ADS. The data model for ADS should have a structure specialized for

automated driving and be presented in a manner useable for ADS.

In the case of static map data used by ITS, ISO 14296 specifies a logical data model applied to vehicle

navigation systems and cooperative ITS (C-ITS). The data model of ISO 14296:2016 is insufficient for ADS

because of limitations to represent detailed or accurate carriageway and road-related features. In

addition, new relationships between new map features and dynamic data are defined.

Even though GDF 5.1 (ISO 20524-2) defines map data used in ADS such as road belts or lane belts as

detailed road map data, it focuses on a data model for exchanging and provisioning map data between

map makers and data centres. The GDF model which is based on three catalogues (Feature, Attribute, and

Relationship) is inefficient not only for storing ITS map data in a database but also to be able to access

that data rapidly in vehicles. Therefore, this document defines a database standard to quickly and directly

access detailed road map entities and their related information.

The purpose of this Technical Specificationdocument is to define a data model for connected and

automated driving systemsystems.

Implementation of this specification coulddocument can potentially lead to cost reductions in

maintenance, and expansion of map access libraries, as well as reductions in compilation, and

maintenance costs of map and map-related data for data providers for connected and automated driving,

and vehicle control applications.
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TECHNICAL SPECIFICATION ISO/DTS 22726-1:2022(E)
Intelligent transport systems — Dynamic data and map database
specification for connected and automated driving system
applications — Part 1: Architecture and logical data model for
harmonization of static map data
1 Scope

This document specifies the architecture and the logical data model of static map data for connected and

automated driving system applications.
2 Normative references

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments) applies.

ISO 14296:2016, Intelligent transport systems -- Extension of map database specifications for

applications of cooperative ITS

ISO/TS 20452:2007, Requirements and Logical Data Model for Physical Storage Format (PSF) and an

Application Program Interface (API) and Logical Data Organization for PSF used in Intelligent Transport

Systems (ITS) Database Technology

ISO 20524-1:2020, Intelligent transport systems — Geographic Data Files (GDF) GDF5.1 — Part 1:

Application independent map data shared between multiple sources

ISO 20524-2:2020, Intelligent transport systems — Geographic Data Files (GDF) GDF5.1 — Part 2: Map

data used in automated driving systems, Cooperative ITS, and multi-modal transport.

ISO/IEC 19501, Information technology — Open Distributed Processing — Unified Modeling Language

(UML) Version 1.4.2
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.

ISO and IEC maintain terminological databases for use in standardization at the following addresses:

— ISO Online browsing platform: available at https://www.iso.org/obp

— IEC Electropedia: available at http://www.electropedia.org/https://www.electropedia.org/

3.1
belt

configuration concept for specifying an area bounded by side lines and terminal lines, characterized by

directions and represented as one or more linear axes when skeletonized
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Note 1 to entry: The number of skeletonized axes differs depending on the feature class. In the case of a belt applied

to a one-way lane, the number is one. When applied to an intersection, the belt has axes corresponding to the

number of unique allowable traffic directions.
[SOURCE: ISO 20524-2:2020, 3.2]
3.2
direction

signature of belt, determined by an allowed connection between a pair of terminal lines

[SOURCE: ISO 20524-2:2020, 3.3]
3.3
belt feature

two-dimensional Feature, represented by belt concept, bounded by three or more Edges or four or more

NET coordinate Tuple

[SOURCE: ISO 20524-2:2020, 3.1], modified — "represented by belt concept" added.]

3.4
feature
database representation of a real-world object
[SOURCE: ISO 20524-1:2020, 3.4.9]
3.5
link

directed topological connection between two nodes, composed of an ordered sequence of one or more

segments and represented by an ordered sequence of zero or more shape points
[SOURCE: ISO/TS 20452:2007, 3.19]
3.6
node

data model entity for a topological junction of two or more links or end bounding a link

Note 1 to entry: A link stores the coordinate value of the corresponding GDF junction.

[SOURCE: ISO/TS 20452:2007, 3.23]
3.7
partition line

transversal line representing the boundary of a segment set to a road belt element and a lane belt element,

and both terminations are set on the sideline of road belt element or lane belt element

3.8
probe data

vehicle sensor information formatted as probe data elements and/or probe messages that are processed,

formatted and transmitted to a land-based centre for processing to create a good understanding of the

driving environment
[SOURCE: ISO 24100:2010, 3.14]
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3.9
road feature
feature, specified by a belt, that represents an area for vehicle travel
EXAMPLE: Carriageways, intersections, and lanes are examples of road features.

Note 1 to entry: ItThis is a general term for the roadway, carriageways, intersections, and lanes, and does not contain

the sidewalks, and paths for pedestrians.
3.10
sideline
side line
type of boundary line constituting a belt feature other than a terminal line

[SOURCE: ISO 20524-2:2020, 3.4, modified — The alternate form admitted term "side line" has been

added as the admitted term.]
3.11
terminal line

a type of boundary line constituting a belt feature and designated for determining a direction of a belt

feature in combination with another terminal line
[SOURCE: ISO 20524-2:2020, 3.5]
4 Abbreviated terms and symbols
ADS Automated Driving System
C-ITS Cooperative ITS
GNSS Global Navigation Satellite System
IAP IntersectionAnchorPosition
IB IntersectionBelt
IBSd IntersectionBeltSideline
IBTr IntersectionBeltTerminalLine
ICP IntersectionConnectionPoint
ITS Intelligent Transport System
LAP Lane Anchor Position
LBE LaneBeltElement
LBJ LaneBeltJoint
LBSd LaneBeltSideline
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LBSg LaneBeltSegment
LBSSg LaneBeltSidelineSegment
LBTr LaneBeltTerminalLine
LCP LaneConnectionPoint
MHAD Map for Highly Automated Driving
POI Point of Interest
RAP RoadAnchorPosition
RBE RoadBeltElement
RBS RoadBeltSection
RBSg RoadBeltSegment
RBSd RoadBeltSideline
RBSSg RoadBeltSidelineSegment
RBTr RoadBeltTerminalLine
RSE RoadStructuresAndEquipment
RTK-GPS Real Time Kinematics - Global Positioning System
ADS automated driving system
C-ITS cooperative ITS
CMS changeable message sign
GNSS Global Navigation Satellite System
IAP IntersectionAnchorPosition
IB IntersectionBelt
IBSd IntersectionBeltSideline
IBTr IntersectionBeltTerminalLine
ICP IntersectionConnectionPoint
ITS intelligent transport system
LAP lane anchor position
LBE LaneBeltElement
LBJ LaneBeltJoint
LBSd LaneBeltSideline
LBSg LaneBeltSegment
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LBSSg LaneBeltSidelineSegment
LBTr LaneBeltTerminalLine
LCP LaneConnectionPoint
MHAD map for highly automated driving
POI point of interest
RAP RoadAnchorPosition
RBE RoadBeltElement
RBS RoadBeltSection
RBSg RoadBeltSegment
RBSd RoadBeltSideline
RBSSg RoadBeltSidelineSegment
RBTr RoadBeltTerminalLine
RSE RoadStructuresAndEquipment
RTK-GPS real time kinematics - global positioning system
VMS variable message sign
5 Document structure and conformance
5.1 Document structure
This document contains the following main clauses, subclauses and annexes:
— Conformance (5.2)
— Architecture (Clause 6)
— Logical data model of map data (Clause 7)
— Overall data model of map data (7.1)
— Transportation package (7.2)
— MHAD package (7.3)
— Relationship to dynamic information (7.4)
— Annex A (normative) Abstract test suite
— Annex B (normative) Basic data types and stereotypes
— Annex C (informative) Rsolution and accuracy of the MHAD

— Annex D (informative) Comparison of the road network models of MHAD and existing map models

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55.2 Conformance
Data model structures shall be provided as specified in Clause 7.

Any data structure claiming conformance with this document shall pass the requirements presented in

the Abstractabstract test suite in Annex A.

UML Expressionsexpressions for diagrams in this document shall be compliant withconform to ISO/IEC

19501:2005.

Throughout this document, the data types and stereotypes as defined in Table B.1 apply.

6 Architecture

Automated Driving Systemsdriving systems (ADSs) and their applications can refer to both static map

data and dynamic information data. In addition, ITS stations in automated driving vehicles, connected

vehicles and road equipment can collect sensing data, such as contradictions between the static map and

features of the real world, traffic data, and travel information, and distribute them as probe data.

Figure 1 depicts the conceptual system architecture of map data in an ITS station for automated driving

system. an ADS.

In ITS vehicle stations that correspond with automated driving systemsto ADSs, the application uses map

data (MHAD) and additional dynamic data. The original data, along with updates of the MHAD data, and

dynamic data, are intended to be provided through external transmitted messages received from outside

of the station. Automated driving applications also use data collected from both in-vehicle and roadside

mounted sensors and can also use conventional map data which complements the applications thatto

which the navigation system and/or C-ITS refer to.
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ITS station
Sensing data
Automated Driving Application
Scope of this document
Driving control
MHAD
module
MHAD
Primitive and update
Risk avoidance
module
External
Probe data
Message set A
Surrounding
Environment module
Unified Dynamic data
Positioning
External
module
Message set Z
Data collection
module
Vehicle Navigation Application
Conventional Map
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Encode/Decode module
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ISO/DTS 22726-1:2022(E)
Figure 1 — Figure 1 — Conceptual system architecture
7 Logical data model of map data
7.1 Overall data model of map data

The overall map data model for ITS is adopted from the model defined in ISO 14296:2016 which consists

of the following packages:

— AddressLocation: location information based on various types of information both on the earthEarth

and in the map data,;
— Cartographic: terrain map information for expressing a visual map,;

— Service&POI: information of the services and POI that existsexist in a fixed location, ;

— Transportation: information concerning fixed features for transportation,; and

— DynamicInformation: external information in association with transportation data for providing

real-time conditions and/or status.
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To supports automated driving systemssupport ADS, both the Transportation and Dynamic Information

DynamicInformation packages are expanded.
The DynamicInformation package is specified in ISO/TS 22726-2:— .
The overall map data model is shown in Figure 2.
Under preparation. Stage at the time of publication ISO/AWI TS 22726-2:2023.
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ISO/DTS 22726-1:2022(E)
Key
A ISO 22726-1 (this document)
B ISO 22726-2
A ISO/TS 22726-1 (this document)
B ISO/TS 22726-2
Figure 2 — Figure 2 — Overall map data model
7.2 Transportation package

Following the addition of the MHAD package to the Transportation package, the updated package

consists of the following:

— MHAD: data for road belt network, lane belt network, and road structures and equipment for

connected and automated driving system, systems;

— TransferZoneNetwork: information concerning place and connected network for transferring with

the transport network,;
— RoadNetwork: static road data using linear network modelling, ;

— PublicTransportationNetwork: static network data for the public transportation system;

— BicyclePathNetwork: static path network data for bicycle movement,; and
— PedestrianPathNetwork: static path network data for pedestrian movement.
The overview of the Transportation package is shown in Figure 3.

The TransferZoneNetwork package and the RoadNetwork package are defined in ISO 14296. The

RoadNetwork package contains features represented by links and nodes, in multiple levels

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corresponding to the concept of different map scales. The features in the MHAD package can be related

to road features such as RoadElement, Intersection, IntersectionLink, IntersectionConnectionPoint and

Lane in the RoadNetwork package and are described in Annex Clause D.2.
This document only defines the specifications of features in the MHAD package.
Key
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ISO/DTS 22726-1:2022(E)
A ISO 22726-1 (this document)
B ISO 14296
C Other standards
A ISO/TS 22726-1 (this document)
B ISO 14296
C other standards
Figure 3 — Figure 3 — Transportation package
7.3 MHAD package
7.3.1 General
7.3.1.1 Configuration of MHAD package

A connected and/or automated driving system requires the road belt network data, the lane belt network

data and the road structures and equipment data related to road features. The MHAD represents the data

model for a static map of the road and consists of the following packages:

— RoadBeltNetwork package — defines belt features and relevant features which composescompose

road-level networks, ;

— LaneBeltNetwork package — defines belt features and relevant features which composescompose

lane-level networks, ;

— RoadStructureAndEquipment package — defines road structures and road equipment which are

related to road-level and/or lane-level networks,;

— CommonPropertyClasses package — defines the data classes commonly used in multiple sub-

packages belonging to the MHAD package.
Figure 4 shows the package configuration of the MHAD package.

The MHAD package contains an MHAD class which is defined as the root class for the entire package.

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Figure 4 — Figure 4 — MHAD package diagram

Figure 5 shows the classes and relationships for expressing the hierarchical model of the MHAD package.

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Figure 5 — Figure 5 — Class diagram of MHAD package
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ISO/DTS 22726-1:2022(E)
7.3.1.2 Belt concept for roadway, intersection, and lane

Roadways and intersections are expressed by lines and points in conventional road network data models.

However, in emerging ITS applications, (e.g.,. lane keeping for C-ITS and automated driving syste

...