ISO 23150-2:2026

• Abstract:

  This document is applicable to road vehicles with automated driving functions and specifies the interfaces at the object level: potentially moving object interface; road object interface; static object interface; free-space object interface. This document does not provide electrical and mechanical interface specifications. Raw data interfaces are also excluded.

• Status: Published
• Publication Date: 28-Jun-2026
• 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: 6060 - International Standard published
• Start Date: 29-Jun-2026
• Due Date: 28-Oct-2027
• Completion Date: 29-Jun-2026

• Revises: ISO 23150:2023 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
• Effective Date: 28-Oct-2023

Overview

ISO 23150-2:2026 defines the logical object-level interfaces between environmental perception sensors and the data fusion unit in road vehicles equipped with automated driving functions. As part of the ISO 23150 series, this document focuses specifically on the object level, including interfaces for potentially moving objects, road objects, static objects, and free-space objects. It establishes a standardized structure for sensor data integration, ensuring compatibility and interoperability for automated and autonomous vehicle systems, while deliberately excluding electrical, mechanical, and raw data interface specifications.

Key Topics

• Object-Level Interfaces: The standard specifies four primary object-level logical interfaces:
  • Potentially Moving Object Interface: Handles data related to objects capable of movement (such as vehicles, pedestrians, and other moving obstacles), including their status, dynamics, and classification.
  • Road Object Interface: Covers objects integral to the road environment (e.g., road markings, signs, barriers).
  • Static Object Interface: Manages objects considered permanently stationary, like parked vehicles and fixed infrastructure.
  • Free-Space Object Interface: Relates to the representation and detection of areas without objects, crucial for safe path planning.
• Modular Data Structure: Emphasizes a modular approach based on generic object-level interface specifications, supporting clarity and scalability in implementation.
• Semantic Representation: Utilizes clearly defined signal groupings and profiles for complex object attributes (e.g., object position, motion type, recognition classification, and observation confidence).
• Exclusion of Raw and Physical Interfaces: Focuses solely on logical data abstraction, without dictating hardware connectors, electrical signals, or raw sensor outputs.

Applications

Implementing ISO 23150-2:2026 delivers practical value to a wide range of stakeholders in the automotive and automated driving ecosystem:

• Sensor Integration: Enables multi-sensor environments (camera, radar, lidar) to standardize the output provided to vehicle data fusion units, supporting accurate environmental perception.
• Data Fusion Consistency: Provides a uniform interface for object-level information, enhancing the consistency, reliability, and interpretability of fused data used by automated driving functions.
• System Interoperability: Facilitates compatible and scalable development of automated driving systems by third-party suppliers, OEMs, and Tier-1 integrators, contributing to faster and more reliable deployment.
• Safety Enhancement: Ensures that critical object-level information, such as entity status, object tracking, and confidence levels, is communicated clearly-supporting robust situational awareness for autonomous and semi-autonomous vehicles.
• Scalable Architecture: Supports both single-sensor and clustered-sensor configurations, enabling flexible deployment in passenger cars, commercial vehicles, and future mobility solutions.

Related Standards

ISO 23150-2:2026 is part of the broader ISO 23150 series, which addresses multiple layers of logical interfaces in vehicle sensor and data fusion architectures:

• ISO 23150-1:2026 - General information and principles for logical interfaces between sensors and data fusion unit for automated driving functions
• Other Parts of ISO 23150 (e.g., Parts 11-15, 20) - Covering additional interface types, technology-specific features, and supportive or sensor input interfaces
• ISO/TC 22/SC 31 - Relevant technical committee documents on road vehicles and data communication

For comprehensive implementation and integration, referencing the full ISO 23150 series is recommended to ensure compliance and maximize the interoperability benefits provided by these logical interface standards.

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Keywords: ISO 23150-2, object level interface, logical sensor interface, automated driving, data fusion unit, automotive standards, environmental perception, road vehicle sensors, autonomous vehicle interoperability, sensor data fusion, mobility standardization.

International
Standard
ISO 23150-2
First edition
Road vehicles — Logical interface
2026-06
between sensors and data fusion
unit for automated driving
functions —
Part 2:
Object level interfaces
Véhicules routiers — Interface logique entre capteurs et unité de
fusion de données pour les fonctions de conduite automatisée —
Partie 2: Interfaces de niveau objet
Reference number
© ISO 2026
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]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 2
5 Object level . 3
5.1 General .3
5.2 Potentially moving object .3
5.2.1 Potentially moving object interface .3
5.2.2 Potentially moving object header . 12
5.2.3 Potentially moving object entity . 13
5.2.4 Potentially moving object profiles . 15
5.3 Road object . .17
5.3.1 Road object interface .17
5.3.2 Road object header . 34
5.3.3 Road object entity. 36
5.3.4 Road object interface profiles . 38
5.4 Static object . 38
5.4.1 Static object interface . 38
5.4.2 Static object header . 78
5.4.3 Static object entity . 80
5.4.4 Static object profiles . . 87
5.5 Free-space object . . .91
5.5.1 Free-space object interface .91
5.5.2 Free-space object header . 98
5.5.3 Free-space object entity . 99
5.5.4 Free-space object profiles . 100
Annex A (normative) Interface signals .105
Bibliography .182

iii
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
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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 document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see http://www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent
rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a)
patent(s) which may be required to implement this document. However, implementers are cautioned that
this may not represent the latest information, which may be obtained from the patent database available at
http://www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
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http://www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 31, Data
communication.
[1] [2] [3]
This first edition of ISO 23150-2, together with ISO 23150-1 , ISO 23150-11 , ISO 23150-12 , ISO 23150-13
[4] [5] [6] [7]
, ISO 23150-14 , ISO 23150-15 and ISO 23150-20 , cancels and replaces ISO 23150:2023, which has
been technically revised.
The main changes are as follows:
— reorganisation of the document structure; use of generic interfaces, generic signals, generic profiles and
[1]
terms and definitions defined in ISO 23150-1 as a basis for this document;
— specific collection of interfaces in separated documents; in this document specific collection of all
interfaces on object level.
A list of all parts in the ISO 23150 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.

iv
Introduction
Vehicle environmental perception sensors (single sensor or sensor cluster) provide logical interfaces
according to the ISO 23150 series to the fusion unit or automated driving functions. The fusion unit
generates a surround model and interprets the scene around the vehicle based on the sensor data. Interfaces
are defined on different levels and described in a modular and semantic representation. The interfaces
on feature level, advanced detection level and detection level are technology specific and differ by each
technology.
Figure 1 shows the schematic and contextual relationships between the documents relating to logical
interfaces of the ISO 23150 series.
Key
scope of this document
Figure 1 — Relationship of the ISO 23150 series
This document specifies the object level interfaces. Object interfaces such as the "potentially -moving -object
interface" (5.2.1), the "road object interface" (5.3.1), the "static object interface" (5.4.1) and the "free-space
object interface" (5.5.1) are part of the object level. These interfaces are based on the generic specifications
[1]
of the object level interface in the ISO 23150-1 , which are supplied by single sensors or sensor clusters.
This document references generic specifications of signals of the header and the generic interface levels.
A sensor or sensor cluster may also implement (provide or receive) logical interfaces:
— on feature, advanced detection or detection level (see technology specific parts of the ISO 23150 series);
— for additional interfaces as supportive sensor interfaces and sensor input information interfaces (see
[7]
ISO 23150-20 ).
This document is not intended to replace the logical interface specifications of other documents in the
ISO 23150 series.
[1]
This document is based on the generic specifications in ISO 23150-1 as shown in Figure 2:
— generic object level interface;
— general level-independent profiles.

v
Key
scope of this document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150
series
vi
International Standard ISO 23150-2:2026(en)
Road vehicles — Logical interface between sensors and data
fusion unit for automated driving functions —
Part 2:
Object level interfaces
1 Scope
This document is applicable to road vehicles with automated driving functions and specifies the interfaces
at the object level:
— potentially moving object interface;
— road object interface;
— static object interface;
— free-space object interface.
This document does not provide electrical and mechanical interface specifications. Raw data interfaces are
also excluded.
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 23150-1, Road vehicles — Logical interface between sensors and data fusion unit for automated driving
functions — Part 1: General information and principles
ISO 23150-1:2026, Road vehicles — Logical interface between sensors and data fusion unit for automated
driving functions — Part 1: General information and principles
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 23150-1 apply.
ISO and IEC maintain terminology 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/

4 Abbreviated terms
A2I assign to interface
AD automated driving
ADLI advanced detection level interface
AER alternative entity representation
C conditional
D dimensional
DE default enumerators
DLI detection level interface
ECU electronic control unit
EES extended enumeration signal
EM error model
FLI feature level interface
FSOI free-space object interface
ID identifier
IQR interquartile range
IR infrared
IRI international roughness index
IV implicit value
LL list length
LSG logical signal group
M mandatory
O optional
OLI object level interface
PMOI potentially moving object interface
RDOI road object interface
RL requirement level
SII sensor input interface
SOI static object interface
SSI supportive sensor interface
UTL unrolling tuple list
VRO value representation optimisation
5 Object level
5.1 General
The generic specification of the object level interfaces is defined in ISO 23150-1:2026, Clause 7. The object
level interfaces shall be based on the generic object level interface as specified in ISO 23150-1:2026, 7.2.
On object level the following interfaces are available:
— potentially moving object interface (5.2.1);
— road object interface (5.3.1);
— static object interface (5.4.1);
— free-space object interface (5.5.1).
5.2 Potentially moving object
5.2.1 Potentially moving object interface
The potentially moving object interface (PMOI) contains the list of objects that could potentially move and
are relevant for driving situations. This includes all objects that currently move, have moved (see Figure 3)
and that are not definitely static three-dimensional structures. Table 1 defines the general structure of the
potentially moving object interface.
Table 1 — Potentially moving object interface structure
Structure Multiplicity Option
Potentially moving object header (5.2.2) 1
Potentially moving objects Multiple Size type:
dynamic/fixed
The logical structure of the PMOI shall be implemented in accordance with the interface definition specified
in Table 2, the signals as defined in Annex A and ISO 23150-1:2026, Annex A. Furthermore, the generic
profiles as defined in 5.2.4 and in ISO 23150-1:2026 as well as the signal options defined in ISO 23150-1:2026,
Annex B shall also be considered. The object interface defines sets of signals for more detailed potentially
moving object types (for example, lights, persons).

Table 2 — Potentially moving object interface
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Information: M Interface version ID {major, M Profile: Uniqueness of
interface minor, patch} (ISO 23150-1:2026, interface versioning
A.1.2) (ISO 23150-1:2026,
6.5.1)
Interface ID (ISO 23150-1:2026, O Profile: Uniqueness of
A.1.3) interface versioning
(ISO 23150-1:2026,
6.5.1)
Number of valid serving sensors M Profile: Uniqueness of
(ISO 23150-1:2026, A.1.4) interface versioning
(ISO 23150-1:2026,
6.5.1)
Optimise LL (ISO
23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Sensor ID (ISO
23150-1:2026, A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO 23150-1:2026, A.1.4)
Sensor ID (ISO 23150-1:2026, M Profile: Uniqueness of
A.1.5) interface versioning
(ISO 23150-1:2026,
6.5.1)
Alternative VRO (ISO
23150-1:2026, B.1.4)
Time stamp – prediction (ISO M
23150-1:2026, A.1.6.1)
Cycle counter (ISO 23150- O Redundancy (ISO
1:2026, A.1.7.1) 23150-1:2026, B.1.3)
Signal: Time stamp –
prediction (ISO 23150-
1:2026, A.1.6.1)
Interface cycle time (ISO 23150- O
1:2026, A.1.8)
Interface cycle time – variation O
(ISO 23150-1:2026, A.1.9)
Data qualifier (ISO 23150- M Optimise DE (ISO
1:2026, A.1.10) 23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Motion type (A.1.2) M Profile: Motion type
(5.2.4.1)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Potentially moving objects
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Potentially M Recognised objects – capabili- O
moving objects ty – potentially moving objects
information (A.1.3.1)
Recognised objects – status O Redundancy (ISO
– potentially moving objects 23150-1:2026, B.1.3)
(A.1.4.1) Signal: Recognised
objects – capability
– potentially moving
objects (A.1.3.1)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Number of valid objects – poten- M Optimise LL (ISO
tially moving objects (A.1.5.1) 23150-1:2026, B.1.2)
Size type: dynamic/fixed
Size #: Number of valid objects – potentially moving objects (A.1.5.1)
↪ Potentially M Existence probability – ob- M
moving object ject level (ISO 23150-1:2026,
status A.3.2)
Object ID (ISO 23150-1:2026, M Alternative A2I (ISO
A.3.3) 23150-1:2026, B.3.3)
Object grouping ID (ISO O
23150-1:2026, A.3.4)
Age (ISO 23150-1:2026, M Profile: Observations
A.2.22) (ISO 23150-1:2026,
6.5.8)
Number of valid observa- O Profile: Observations
tions (ISO 23150-1:2026, (ISO 23150-1:2026,
A.2.23) 6.5.8)
Optimise LL (ISO
23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Time stamp
reference (ISO 23150-
1:2026, A.2.24)
Size type: dynamic/fixed
Size #: Number of valid observations (ISO 23150-1:2026, A.2.23)
Time stamp reference M Profile: Observations
(ISO 23150-1:2026, (ISO 23150-1:2026,
A.2.24) 6.5.8)
Alternative VRO (ISO
23150-1:2026, B.1.4)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Observation status (ISO M Profile: Observations
23150-1:2026, A.2.25) (ISO 23150-1:2026,
6.5.8)
Redundancy (ISO
23150-1:2026, B.1.3)
Signal: Object ID (ISO
23150-1:2026, A.3.3),
Time stamp – pre-
diction (ISO 23150-
1:2026, A.1.6.1)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Track quality (ISO 23150- O
1:2026, A.3.5)
Measurement status (ISO M Profile: Measurement
23150-1:2026, A.2.68) status (ISO 23150-
1:2026, 6.5.18)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
↪ Potentially M Tracking motion model O Optimise DE (ISO
moving object (A.2.2) 23150-1:2026, B.1.8)
information
Optimise EES (ISO
23150-1:2026, B.1.9)
Number of valid recognition M Profile: Recognition
classifications (ISO 23150- classification type (ISO
1:2026, A.2.61) 23150-1:2026, 6.5.15)
Optimise LL (ISO
23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Recognition
classification type (ISO
23150-1:2026, A.2.62)
Size type: dynamic/fixed
Size #: Number of valid recognition classifications (ISO 23150-1:2026,
A.2.61)
Recognition classification M Profile: Recognition
type (ISO 23150-1:2026, classification type (ISO
A.2.62) 23150-1:2026, 6.5.15)
Alternative VRO (ISO
23150-1:2026, B.1.4)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Recognition classification M Profile: Recognition
type – confidence (ISO classification type (ISO
23150-1:2026, A.2.63) 23150-1:2026, 6.5.15)

TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Road level (A.2.3) O Redundancy (ISO
23150-1:2026, B.1.3)
Signal: {z} of Position
{x, y, z} (ISO 23150-
1:2026, A.2.43)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
↪ Potentially M Position {x, y, z} (ISO 23150- {M, M, O} Profile: Object pose
moving object 1:2026, A.2.43) (ISO 23150-1:2026,
position 7.5.3)
Profile: Motion state
vector (5.2.4.2)
Position {x, y, z} – error (ISO C Profile: Object pose
23150-1:2026, A.2.44) Analog: Position {x, y, (ISO 23150-1:2026,
z} (ISO 23150-1:2026, 7.5.3)
A.2.43)
Profile: Motion state
vector (5.2.4.2)
Implementation EM
(ISO 23150-1:2026,
B.4.2)
Orientation {yaw, pitch, roll} {C (ISO 23150-1:2026, Profile: Object pose
(ISO 23150-1:2026, A.3.22) B.2.2) (ISO 23150-1:2026,
Relevant: camera, O, 7.5.3)
O}
Profile: Motion state
vector (5.2.4.2)
Orientation {yaw, pitch, roll} O Profile: Object pose
– error (ISO 23150-1:2026, (ISO 23150-1:2026,
A.3.23) 7.5.3)
Profile: Motion state
vector (5.2.4.2)
Implementation EM
(ISO 23150-1:2026,
B.4.2)
Reference point {x, y, z} (ISO O Profile: Object pose
23150-1:2026, A.3.24) (ISO 23150-1:2026,
7.5.3)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
↪ Potentially C (ISO 23150- Bounding box extent {length, C Profile: Object pose
moving object 1:2026, B.2.2) width, height} (ISO 23150- Analog: Position {x, y, (ISO 23150-1:2026,
bounding box Relevant: cam- 1:2026, A.3.25) z} (ISO 23150-1:2026, 7.5.3)
era A.2.43)
Bounding box extent {length, O Profile: Object pose
width, height} – error (ISO (ISO 23150-1:2026,
23150-1:2026, A.3.26) 7.5.3)
Implementation EM
(ISO 23150-1:2026,
B.4.2)
Clearance of the object O
{height} (A.2.4)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Included geometric struc- O Optimise DE (ISO
tures (A.2.5) 23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
↪ Potentially M Velocity {x, y, z} (A.2.6) C Profile: Motion type
moving object Analog: Position {x, y, (5.2.4.1)
dynamics z} (ISO 23150-1:2026,
Profile: Motion state
A.2.43)
vector (5.2.4.2)
Velocity {x, y, z} – error O Profile: Motion type
(A.2.7) (5.2.4.1)
Profile: Motion state
vector (5.2.4.2)
Implementation EM
(ISO 23150-1:2026,
B.4.2)
Acceleration {x, y, z} (A.2.8) O Profile: Motion type
(5.2.4.1)
Acceleration {x, y, z} – error O Profile: Motion type
(A.2.9) (5.2.4.1)
Implementation EM
(ISO 23150-1:2026,
B.4.2)
Instantaneous centre of rota- C (ISO 23150-1:2026,
tion {x, y} (A.2.10) B.2.3)
Signal: Rotation rate
at instantaneous cen-
tre of rotation {yaw}
(A.2.12)
Instantaneous centre of rota- O Implementation EM
tion {x, y} – error (A.2.11) (ISO 23150-1:2026,
B.4.2)
Rotation rate at instantane- O Profile: Motion type
ous centre of rotation {yaw} (5.2.4.1)
(A.2.12)
Profile: Motion state
vector (5.2.4.2)
Rotation rate at instantane- O Profile: Motion type
ous centre of rotation {yaw} (5.2.4.1)
– error (A.2.13)
Profile: Motion state
vector (5.2.4.2)
Implementation EM
(ISO 23150-1:2026,
B.4.2)
Movement status (A.2.14) O Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Potentially C (ISO 23150- Number of valid lights M Optimise LL (ISO
moving object’s 1:2026, B.2.2) (A.2.15) 23150-1:2026, B.1.2)
lights Relevant: cam-
Alternative UTL (ISO
era
23150-1:2026, B.1.7)
Key: Light type
(A.2.16)
Size type: dynamic/fixed
Size #: Number of valid lights (A.2.15)
Light type (A.2.16) M Alternative VRO (ISO
23150-1:2026, B.1.4)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Light status (A.2.17) M Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
↪ Potentially O Number of valid persons M Optimise LL (ISO
moving object: (A.2.18) 23150-1:2026, B.1.2)
persons
Size type: dynamic/fixed
Size #: Number of valid persons (A.2.18)
Number of valid person M Optimise LL (ISO
type roles (A.2.19) 23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Person type role
(A.2.20)
Size type: dynamic/fixed
Size #: Number of valid person type roles (A.2.19)
Person type role M Alternative VRO (ISO
(A.2.20) 23150-1:2026, B.1.4)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Person type role – M
confidence (A.2.21)
Number of valid person O Optimise LL (ISO
gestures (A.2.22) 23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Person gesture in-
dication type (A.2.23)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Size type: dynamic/fixed
Size #: Number of valid person gestures (A.2.22)
Person gesture indica- M Alternative VRO (ISO
tion type (A.2.23) 23150-1:2026, B.1.4)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Person gesture indica- O
tion type – confidence
(A.2.24)
Number of valid person’s M Optimise LL (ISO
body part poses (A.2.25) 23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Person body part
(A.2.26)
Size type: dynamic/fixed
Size #: Number of valid person’s body part poses (A.2.25)
Person body part M Alternative VRO (ISO
(A.2.26) 23150-1:2026, B.1.4)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Person body part ori- M
entation {yaw, pitch,
roll} (A.2.27)
Person body part ori- O Implementation EM
entation {yaw, pitch, (ISO 23150-1:2026,
roll} – error (A.2.28) B.4.2)
Person body part ori- O
gin {x, y, z} (A.2.29)
Person body part O Implementation EM
origin {x, y, z} – error (ISO 23150-1:2026,
(A.2.30) B.4.2)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Eye state (A.2.31) O Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Eye state – confidence O
(A.2.32)
Ego vehicle fixation time O
(A.2.33)
Ego vehicle fixation time O Implementation EM
– error (A.2.34) (ISO 23150-1:2026,
B.4.2)
Action type (A.2.35) O Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Action type – confidence O
(A.2.36)
Number of valid person O Optimise LL (ISO
accessories (A.2.37) 23150-1:2026, B.1.2)
Alternative UTL (ISO
23150-1:2026, B.1.7)
Key: Person accesso-
ry classification type
(A.2.38)
Size type: dynamic/fixed
Size #: Number of valid person accessories (A.2.37)
Person accessory M Alternative VRO (ISO
classification type 23150-1:2026, B.1.4)
(A.2.38)
Optimise DE (ISO
23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Person accessory O
classification type –
confidence (A.2.39)
Accessory connec- O Optimise DE (ISO
tion to person type 23150-1:2026, B.1.8)
(A.2.40)
Optimise EES (ISO
23150-1:2026, B.1.9)
Included geometric O Optimise DE (ISO
structure of accessory 23150-1:2026, B.1.8)
(A.2.41)
Optimise EES (ISO
23150-1:2026, B.1.9)
↪ Lane related O Object lane association M Optimise DE (ISO
information (A.2.42) 23150-1:2026, B.1.8)
Optimise EES (ISO
23150-1:2026, B.1.9)
Angle between object edge O
and ego lane boundary {left
edge right lane, right edge
left lane} (A.2.43)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Angle between object edge O Implementation EM
and ego lane boundary {left (ISO 23150-1:2026,
edge right lane, right edge B.4.2)
left lane} – error (A.2.44)
Object intruding ego lane O
{left, right} (A.2.45)
Object ego lane usage {left, O
right} (A.2.46)
↪ Motion relat- O Angular position {azimuth} O
ed information (A.2.47)
Angular velocity {azimuth} M
(A.2.48)
DEPRECATED: O DEPRECATED: Scale change M
↪ Camera sen- – object level (A.2.49)
sor technology
specific
↪ Radar sensor C (ISO 23150- Entity radar cross section M
technology 1:2026, B.2.2) (A.2.50)
specific Relevant: radar
↪ Lidar sensor C (ISO 23150- Entity lidar reflectivity M
technology 1:2026, B.2.2) (A.2.51)
specific Relevant: lidar
Key
1 vehicle
2 pedestrian
3 potentially moving object – classification unknown, for example, "Recognition classification type" (ISO 23150-
1:2026, A.2.62) with enumerator "PMOCT_Unknown"
Figure 3 — Example for potentially moving objects
5.2.2 Potentially moving object header
Table 3 defines the interface header for potentially moving objects and the changes due to the adaptation in
comparison to the "generic object level header" as specified in ISO 23150-1:2026, 7.3, which shall be used as
the interface header. The header of the PMOI specifies the list of valid potentially moving object entities (see
5.2.3).
Table 3 — Specific signal grouping: Potentially moving object header
Signal RL signal Option
Interface version ID {major, minor, patch} Mandatory Profile: Uniqueness of interface versioning
(ISO 23150-1:2026, A.1.2) (ISO 23150-1:2026, 6.5.1)
Interface ID (ISO 23150-1:2026, A.1.3) Optional Profile: Uniqueness of interface versioning
(ISO 23150-1:2026, 6.5.1)
Number of valid serving sensors (ISO 23150- Mandatory Profile: Uniqueness of interface versioning
1:2026, A.1.4) (ISO 23150-1:2026, 6.5.1)
Optimise LL (ISO 23150-1:2026, B.1.2)
Alternative UTL (ISO 23150-1:2026, B.1.7)
Key: Sensor ID (ISO 23150-1:2026, A.1.5)
↪ Sensor ID (ISO 23150-1:2026, A.1.5) Mandatory Profile: Uniqueness of interface versioning
(ISO 23150-1:2026, 6.5.1)
Alternative VRO (ISO 23150-1:2026, B.1.4)
Time stamp – prediction (ISO 23150-1:2026, Mandatory
A.1.6.1)
Cycle counter (ISO 23150-1:2026, A.1.7.1) Optional Redundancy (ISO 23150-1:2026, B.1.3)
Signal: Time stamp – measurement (ISO
23150-1:2026, A.1.6.2)
Interface cycle time (ISO 23150-1:2026, A.1.8) Optional
Interface cycle time – variation (ISO 23150- Optional
1:2026, A.1.9)
Data qualifier (ISO 23150-1:2026, A.1.10) Mandatory Optimise DE (ISO 23150-1:2026, B.1.8)
Optimise EES (ISO 23150-1:2026, B.1.9)
Motion type (A.1.2) Mandatory Profile: Motion type (5.2.4.1)
Optimise DE (ISO 23150-1:2026, B.1.8)
Optimise EES (ISO 23150-1:2026, B.1.9)
a
... Need of logical signal group (ISO 23150-
1:2026, B.3.4)
Profile: Vehicle coordinate system (ISO
23150-1:2026, 6.5.4)
Profile: Sensor pose (ISO 23150-1:2026, 6.5.5)
Profile: Calibration (ISO 23150-1:2026, 6.5.6)
Profile: Sensor cluster (ISO 23150-1:2026,
6.5.7)
Potentially moving objects
Recognised objects – capability – potentially Optional
moving objects (A.1.3.1)
Recognised objects – status – potentially Optional Redundancy (ISO 23150-1:2026, B.1.3)
moving objects (A.1.4.1) Signal: Recognised objects – capability – po-
tentially moving objects (A.1.3.1)
Optimise DE (ISO 23150-1:2026, B.1.8)
Optimise EES (ISO 23150-1:2026, B.1.9)
Number of valid objects – potentially moving Mandatory Optimise LL (ISO 23150-1:2026, B.1.2)
objects (A.1.5.1)
↪ Potentially moving object entities
a [8]
Further signals of "Need of logical signal group" (ISO 23150-1:2026 , B.3.4) profiles may be added to this header (see cell
options).
5.2.3 Potentially moving object entity
Each potentially moving object shall describe a recognised real-world object and consists of several LSGs.
Each object, which may move, even if it might have not moved yet since first recognition of the real-world
object, is an entity of potentially moving objects.

A potentially moving object is described by the following LSGs for potentially moving objects with attributes
for different parts (for example, vehicle, pedestrian).
— Status: the status describes general information of the tracked potentially moving object. This
information is based on history of the object tracking. Table 4 defines the signal grouping "Potentially
moving object entity status", which shall be used as the entity status. It defines this status LSG of the
potentially moving object and redefines the signal grouping "generic object level entity status", which
shall be as specified in ISO 23150-1:2026, 7.4.
— Information: the information describes properties such as the confidence of an object type.
— Position/ bounding box: the object pose of a potentially moving object is defined by "Profile: Object
pose" (ISO 23150-1:2026, 7.5.3). Due to recognition capabilities, small structures shall not be included
in the bounding box. The signal "Included geometric structures" (A.2.5) defines, what is included in the
bounding box. There is no signal defined to determine the minimal distance up to which an information,
relevant to the road user, is still recognizable.
— Dynamics: the dynamics describe the motion information of the tracked potentially moving object with
respect to the motion type defined by the signal "Motion type" (A.1.2) [see Profile: Motion type (5.2.4.1)].
— Lights: the lights describe the status of the tracked potentially moving object’s lights.
— Persons: the persons describe a recognised person type, its gestures and poses of the tracked persons if
the tracked potentially moving object may be a pedestrian or include persons (for example, the driver of
a vehicle).
— Lane related information: the lane related information describes the tracked potentially moving object
in relation with real-world lane boundaries.
— Motion related information: the motion related information describes additional motion information
of the tracked potentially moving object.
1)
— Camera sensor technology specific : the camera sensor technology specific data describe dynamic
information in the camera projection plane.
— Radar sensor technology specific: the radar sensor technology specific data describe different surface
and material properties of the potentially moving object with respect to the radar.
— Lidar sensor technology specific: the lidar sensor technology specific data describes different surface
and material properties of the potentially moving object with respect to the lidar (for example, reflection
strength of a surface).
Table 4 — Specific signal grouping: Potentially moving object entity status
Signal RL signal Option
Existence probability – object level (ISO Mandatory
23150-1:2026, A.3.2)
Object ID (ISO 23150-1:2026, A.3.3) Mandatory Alternative A2I (ISO 23150-1:2026, B.3.3)
Object grouping ID (ISO 23150-1:2026, A.3.4) Optional
Age (ISO 23150-1:2026, A.2.22) Mandatory Profile: Observations (ISO 23150-1:2026,
6.5.8)
Number of valid observations (ISO 23150- Optional Profile: Observations (ISO 23150-1:2026,
1:2026, A.2.23) 6.5.8)
Optimise LL (ISO 23150-1:2026, B.1.2)
Alternative UTL (ISO 23150-1:2026, B.1.7)
Key: Time stamp reference (ISO 23150-
1:2026, A.2.24)
1) The LSG is DEPRECATED.
TTabablele 4 4 ((ccoonnttiinnueuedd))
Signal RL signal Option
↪ Time stamp reference (ISO 23150-1:2026, Mandatory Profile: Observations (ISO 23150-1:2026,
A.2.24) 6.5.8)
Alternative VRO (ISO 23150-1:2026, B.1.4)
↪ Observation status (ISO 23150-1:2026, Mandatory Profile: Observations (ISO 23150-1:2026,
A.2.25) 6.5.8)
Redundancy (ISO 23150-1:2026, B.1.3)
Signal: Object ID (ISO 23150-1:2026, A.3.3),
Time stamp – prediction (ISO 23150-1:2026,
A.1.6.1)
Optimise DE (ISO 23150-1:2026, B.1.8)
Optimise EES (ISO 23150-1:2026, B.1.9)
Track quality (ISO 23150-1:2026, A.3.5) Optional
Measurement status (ISO 23150-1:2026, Mandatory Profile: Measurement status (ISO 23150-
A.2.68) 1:2026, 6.5.18)
Optimise DE (ISO 23150-1:2026, B.1.8)
Optimise EES (ISO 23150-1:2026, B.1.9)
Potentially moving objects or other object entities on object level may be linked together (for example, a
truck with a trailer or a construction site vehicle with a traffic sign at the rear of the vehicle) by using the
[8]
same signal’s "Object grouping ID"(ISO 23150-1:2026 , A.3.4) value in all connected objects.
5.2.4 Potentially moving object profiles
5.2.4.1 Profile: Motion type
The signal "Motion type" (A.1.2) defines the interpretation of the signal "Velocity {x, y, z}" (A.2.6)", "Velocity
{x, y, z} – error" (A.2.7), "Acceleration {x, y, z}" (A.2.8), "Acceleration {x, y, z} – error" (A.2.9), "Rotation rate
at instantaneous centre of rotation {yaw}" (A.2.12) and "Rotation rate at instantaneous centre of rotation
{yaw} – error" (A.2.13) values.
5.2.4.2 Profile: Motion state vector
A potentially moving object entity provides a motion state vector. The sensor may provide a full or enhanced
[8]
error model according to ISO 23150-1:2026 , B.4.1.3.5. For example, the motion state vector of the sensor
[8]
is provided together with an enhanced error model {"Position {x, y, z}" (ISO 23150-1:2026 , A.2.43),
[8]
"Velocity {x, y, z}" (A.2.6), "Orientation {yaw, pitch, roll}" (ISO 23150-1:2026 , A.3.21) and "Rotation rate at
instantaneous centre of rotation {yaw}" (A.2.12)}.
[8]
The resulting error model based on variances, covariances and cross-covariances (see ISO 23150-1:2026 ,
[8]
B.4.1.3.4 and ISO 23150-1:2026 , B.4.1.3.5) may provide a symmetric nD matrix:
(1)
where
[8]
"Position – error" corresponds to the signal "Position {x, y, z} – error" (ISO 23150-1:2026 ,
A.2.44);
"Velocity – error" corresponds to the signal "Velocity {x, y, z} – error" (A.2.7);
"Orientation – error" corresponds to the signal "Orientation {yaw, pitch, roll} – error" (ISO
[8]
23150-1:2026 , A.3.22);
"Rotation rate – error" corresponds to the signal "Rotation rate at instantaneous centre of
rotation {yaw} – error" (A.2.13).

[8]
In addition to existing error signals "Position {x, y, z} – error" (ISO 23150-1:2026 , A.2.44), "Velocity {x, y,
[8]
z} – error" (A.2.7), "Orientation {yaw, pitch, roll} – error" (ISO 23150-1:2026 , A.3.22) and "Rotation rate
at instantaneous centre of rotation {yaw} – error" (A.2.13); the additional signals may be provided as sets
of cross-covariances. All covariances of the motion state vector error model are symmetric and therefore
additional optimisation methods are applicable; this means only half of non-diagonal elements need to be
provided.
For example, the LSG "Potentially moving object motion state vector cross-covariances" may provide, for
example, "Position {x, y, z} x Velocity {x, y, z} – error", "Position {x, y, z} x Orientation {yaw, pitch, roll} – error".
The redundant symmetrical signals for the cross-covariances: "Velocity {x, y, z} x Position {x, y, z} – error",
"Orientation {yaw, pitch, roll} x Position {x, y, z} – error" may be skipped. Similar, the symmetric covariances
[8]
of the signals "Position {x, y, z} – error" (ISO 23150-1:2026 , A.2.44), "Velocity {x, y, z} – error" (A.2.7),
[8]
"Orientation {yaw, pitch, roll} – error" (ISO 23150-1:2026 , A.3.22) and "Rotation rate at instantaneous
centre of rotation {yaw} – error" (A.2.13) shall not transmit redundant values (see optimisation method
[8]
ISO 23150-1:2026 , B.1.6).
Table 5 provides a subset of the PMOI with the relevant signals for the motion state vector of this profile and
the additional signals in the LSG "Potentially moving object motion state vector cross-covariances".
Table 5 — Signal grouping: Exemplary motion state vector cross-covariances LSG
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Potentially M Position {x, y, z} (ISO 23150-1:2026, {M, M, O} Profile: Motion state
moving object A.2.43) vector (5.2.4.2)
position
Position {x, y, z} – error (ISO C Profile: Motion state
23150-1:2026, A.2.44) Analog: Position {x, vector (5.2.4.2)
y, z} (ISO 23150- …
1:2026, A.2.43)
Orientation {yaw, pitch, roll} (ISO {C (ISO 23150- Profile: Motion state
23150-1:2026, A.2.43), A.3.21) 1:2026, B.2.2) vector (5.2.4.2)
Relevant: camera,
O, O}
Orientation {yaw, pitch, roll} – O Profile: Motion state
error (ISO 23150-1:2026, A.3.22) vector (5.2.4.2)
…
… … …
↪ Potentially M Velocity {x, y, z} (A.2.6) C Profile: Motion state
moving object Analog: Position {x, vector (5.2.4.2)
dynamics y, z} (ISO 23150- …
1:2026, A.2.43)
Velocity {x, y, z} – error (A.2.7) O Profile: Motion state
vector (5.2.4.2)
…
Rotation rate at instantaneous cen- O Profile: Motion state
tre of rotation {yaw} (A.2.12) vector (5.2.4.2)
…
Rotation rate at instantaneous O Profile: Motion state
centre of rotation {yaw} – error vector (5.2.4.2)
(A.2.13) …
… … …
a [8]
The signal’s RL is optional by definition of ISO 23150-1:2026 , B.4.1.3.5 but for this profile (5.2.4.2) it should be defined as
mandatory during the system design phase so that at least one signal is mandatory in the LSG.

TTabablele 5 5 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
a
↪ Potentially O Position {x, y, z} x Velocity {x, y, z} O Implementation EM
moving object – error (ISO 23150-1:2026,
motion state B.4.2)
vector cross-co-
Position {x, y, z} x Orientation {yaw, O Implementation EM
variances
pitch, roll} – error (ISO 23150-1:2026,
B.4.2)
Position {x, y, z} x Rotation rate at O Implementation EM
instantaneous centre of rotation (ISO 23150-1:2026,
{yaw} – error B.4.2)
Velocity {x, y, z} x Orientation {yaw, O Implementation EM
pitch, roll} – error (ISO 23150-1:2026,
B.4.2)
Velocity {x, y, z} x Rotation rate at O Implementation EM
instantaneous centre of rotation (ISO 23150-1:2026,
{yaw} – error B.4.2)
Orientation {yaw, pitch, roll} x Ro- O Implementation EM
tation rate at instantaneous centre (ISO 23150-1:2026,
of rotation {yaw} – error B.4.2)
a [8]
The signal’s RL is optional by definition of ISO 23150-1:2026 , B.4.1.3.5 but for this profile (5.2.4.2) it should be defined as
mandatory during the system design phase so that at least one signal is mandatory in the LSG.
Additionally, in most cases the description of the signals in planar space (XY-plane) is sufficient. Therefore,
below covariances may either be only 2D
...