ISO 23150-2

Road vehicles — Logical interface between sensors and data fusion unit for automated driving functions — Part 2: Object level interfaces

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

Véhicules routiers — Interface logique entre capteurs et unité de fusion de données pour les fonctions de conduite automatisée — Partie 2: Interfaces de niveau objet

General Information

• Status: Not Published
• 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: 6000 - International Standard under publication
• Start Date: 23-Apr-2026
• Completion Date: 25-Apr-2026

Relations

• 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: Road vehicles - Logical interface between sensors and data fusion unit for automated driving functions - Part 2: Object level interfaces specifies the logical interface for road vehicles equipped with automated driving functions. Developed by the International Organization for Standardization (ISO), this standard focuses on how data from various in-vehicle environmental perception sensors-such as radar, lidar, cameras, and ultrasonic sensors-are represented and exchanged at the object level with a data fusion unit. The fusion unit then generates an comprehensive surround model and interprets the surrounding scene based on the incoming sensor data. This standard defines a modular and semantic information framework, enhancing the interoperability and integration of sensor technologies in automated driving systems.

Key Topics

• Logical Interface Design: Outlines logical (not physical) protocols for exchanging object-level information between sensors (e.g. radar, lidar, camera) and the data fusion unit.
• Object Level Representation: Provides semantic descriptions for detected objects:
  • Potentially moving objects (e.g., other vehicles, pedestrians)
  • Road objects
  • Static objects
  • Free-space objects
• Modular and Semantic Architecture: Ensures that interfaces are technology-neutral but allow for technology-specific extensions, supporting a scalable perception platform.
• Signal and Attribute Structure: Includes status, identification, position, orientation, dynamics, classification, and error estimation for each detected object.
• Excludes Raw Data & Hardware Interfaces: The standard does not define electrical, mechanical, or raw data transmission interfaces.

Applications

ISO 23150-2 is practically valuable for automotive manufacturers, sensor suppliers, and software developers focusing on automated driving systems. The standard’s key applications include:

• Sensor Integration: Facilitates seamless integration of multiple sensor technologies, allowing data fusion systems to combine environmental information more effectively.
• Interoperable Automated Driving Platforms: Promotes compatibility and scalability when updating or exchanging sensor types or brands, as long as compliance with the logical interface is maintained.
• Scene Understanding: Enables robust interpretation of dynamic driving environments by offering uniform object-level representations, critical for decision-making in automated vehicles.
• Development of Perception Algorithms: Supports the modular development of perception and data fusion software by defining signal structures and interpretation guidelines.
• Future-Proof Design: By providing semantic object descriptors and modular profiles, the interface allows for adaptation to evolving sensor technologies and new types of detected objects.

Related Standards

ISO 23150-2 is part of the comprehensive ISO 23150 series addressing logical interfaces for automated driving systems:

• ISO 23150-1: General information and principles for logical interfaces between sensors and data fusion units.
• ISO 23150-11 to ISO 23150-15, 23150-20: Cover additional types and layers of sensor-to-fusion unit interfaces, such as detection level, advanced detection level, and technology-specific adaptations.
• Other ISO Automotive Standards: Such as ISO 26262 (functional safety), ISO 21434 (cybersecurity), and other sensor and communication protocol standards.

For more information and to view the complete ISO 23150 series, visit the ISO website.

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Keywords: ISO 23150-2, object level interface, automated driving, sensor fusion, road vehicle standards, environmental perception, radar, lidar, camera sensors, modular semantic interface, automotive standards, ISO automated driving.

By adhering to ISO 23150-2, automotive stakeholders can achieve higher compatibility, efficiency, and scalability in the integration of perception sensors, paving the way for safer and more reliable automated driving systems.

Standards Content (Sample)

FINAL DRAFT
International
Standard
ISO/FDIS 23150-2
ISO/TC 22/SC 31
Road vehicles — Logical interface
Secretariat: DIN
between sensors and data fusion
Voting begins on:
unit for automated driving
2026-02-25
functions —
Voting terminates on:
2026-04-22
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
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
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
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.
Reference number
ISO/FDIS 23150-2:2026(en) © ISO 2026

FINAL DRAFT
ISO/FDIS 23150-2:2026(en)
International
Standard
ISO/FDIS 23150-2
ISO/TC 22/SC 31
Road vehicles — Logical interface
Secretariat: DIN
between sensors and data fusion
Voting begins on:
unit for automated driving
functions —
Voting terminates on:
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
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.
© ISO 2026
IN ADDITION TO THEIR EVALUATION AS
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
or ISO’s member body in the country of the requester.
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
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 Reference number
ISO/FDIS 23150-2:2026(en) © ISO 2026

ii
ISO/FDIS 23150-2:2026(en)
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 . 33
5.3.3 Road object entity. 35
5.3.4 Road object interface profiles .37
5.4 Static object .37
5.4.1 Static object interface .37
5.4.2 Static object header . 77
5.4.3 Static object entity . 79
5.4.4 Static object profiles . . 86
5.5 Free-space object . . . 90
5.5.1 Free-space object interface . 90
5.5.2 Free-space object header . 97
5.5.3 Free-space object entity . 98
5.5.4 Free-space object profiles . 99
Annex A (normative) Interface signals .104
Bibliography .181

iii
ISO/FDIS 23150-2:2026(en)
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 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
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
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]
This first edition of ISO 23150-2, together with ISO/FDIS 23150-1 , ISO/FDIS 23150-11 , ISO/FDIS 23150-12
[3] [4] [5] [6] [7]
, ISO/FDIS 23150-13 , ISO/FDIS 23150-14 , ISO/FDIS 23150-15 and ISO/FDIS 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
terms and definitions defined in ISO/FDIS 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 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
ISO/FDIS 23150-2:2026(en)
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/FDIS 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/FDIS 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/FDIS 23150-1 as shown in Figure 2:
— generic object level interface;
— general level-independent profiles.

v
ISO/FDIS 23150-2:2026(en)
Key
scope of this document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150
series
vi
FINAL DRAFT International Standard ISO/FDIS 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/FDIS 23150-1, 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/FDIS 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/

ISO/FDIS 23150-2:2026(en)
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
ISO/FDIS 23150-2:2026(en)
VRO value representation optimisation
5 Object level
5.1 General
[1]
The generic specification of the object level interfaces is defined in ISO/FDIS 23150-1 , Clause 7. The object
level interfaces shall based on the generic object level interface as specified in ISO/FDIS 23150-1, 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/FDIS 23150-1, Annex A. Furthermore, the generic
profiles as defined in 5.2.4 and in ISO/FDIS 23150-1 as well as the signal options defined in ISO/FDIS 23150-
1, Annex B shall also be considered. The object interface defines sets of signals for more detailed potentially
moving object types (for example, lights, persons).

ISO/FDIS 23150-2:2026(en)
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/FDIS 23150- interface versioning
1, A.1.2) (ISO/FDIS 23150-1,
6.5.1)
Interface ID (ISO/FDIS 23150-1, O Profile: Uniqueness of
A.1.3) interface versioning
(ISO/FDIS 23150-1,
6.5.1)
Number of valid serving sensors M Profile: Uniqueness of
(ISO/FDIS 23150-1, A.1.4) interface versioning
(ISO/FDIS 23150-1,
6.5.1)
Optimise LL (ISO/FDIS
23150-16, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, B.1.7)
Key: Sensor ID (ISO/
FDIS 23150-1, A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO/FDIS 23150-1, A.1.4)
Sensor ID (ISO/FDIS 23150-1, M Profile: Uniqueness of
A.1.5) interface versioning
(ISO/FDIS 23150-1,
6.5.1)
Alternative VRO (ISO/
FDIS 23150-1, B.1.4)
Time stamp – prediction (ISO/ M
FDIS 23150-1, A.1.6.1)
Cycle counter (ISO/FDIS 23150- O Redundancy (ISO/FDIS
1, A.1.7.1) 23150-1, B.1.3)
Signal: Time stamp –
prediction (ISO/FDIS
23150-1, A.1.6.1)
Interface cycle time (ISO/FDIS O
23150-1, A.1.8)
Interface cycle time – variation O
(ISO/FDIS 23150-1, A.1.9)
Data qualifier (ISO/FDIS 23150- M Optimise DE (ISO/FDIS
1, A.1.10) 23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Motion type (A.1.2) M Profile: Motion type
(5.2.4.1)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Potentially moving objects
ISO/FDIS 23150-2:2026(en)
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/FDIS
– potentially moving objects 23150-1, B.1.3)
(A.1.4.1) Signal: Recognised
objects – capability
– potentially moving
objects (A.1.3.1)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Number of valid objects – poten- M Optimise LL (ISO/FDIS
tially moving objects (A.1.5.1) 23150-1, 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/FDIS 23150-1,
status A.3.2)
Object ID (ISO/FDIS 23150-1, M Alternative A2I (ISO/
A.3.3) FDIS 23150-1, B.3.3)
Object grouping ID (ISO/FDIS O
23150-1, A.3.4)
Age (ISO/FDIS 23150-1, M Profile: Observations
A.2.22) (ISO/FDIS 23150-1,
6.5.8)
Number of valid observa- O Profile: Observations
tions (ISO/FDIS 23150-1, (ISO/FDIS 23150-1,
A.2.23) 6.5.8)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, B.1.7)
Key: Time stamp refer-
ence (ISO/FDIS 23150-
1, A.2.24)
Size type: dynamic/fixed
Size #: Number of valid observations (ISO/FDIS 23150-1, A.2.23)
Time stamp reference M Profile: Observations
(ISO/FDIS 23150-1, (ISO/FDIS 23150-1,
A.2.24) 6.5.8)
Alternative VRO (ISO/
FDIS 23150-1, B.1.4)
ISO/FDIS 23150-2:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Observation status (ISO/ M Profile: Observations
FDIS 23150-1, A.2.25) (ISO/FDIS 23150-1,
6.5.8)
Redundancy (ISO/FDIS
23150-1, B.1.3)
Signal: Object ID (ISO/
FDIS 23150-1, A.3.3),
Time stamp – predic-
tion (ISO/FDIS 23150-
1, A.1.6.1)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Track quality (ISO/FDIS O
23150-1, A.3.5)
Measurement status (ISO/ M Profile: Measurement
FDIS 23150-1, A.2.68) status (ISO/FDIS
23150-1, 6.5.18)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
↪ Potentially M Tracking motion model O Optimise DE (ISO/FDIS
moving object (A.2.2) 23150-1, B.1.8)
information
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Number of valid recognition M Profile: Recognition
classifications (ISO/FDIS classification type
23150-1, A.2.61) (ISO/FDIS 23150-1,
6.5.15)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, B.1.7)
Key: Recognition clas-
sification type (ISO/
FDIS 23150-1, A.2.62)
Size type: dynamic/fixed
Size #: Number of valid recognition classifications (ISO/FDIS 23150-1,
A.2.61)
Recognition classification M Profile: Recognition
type (ISO/FDIS 23150-1, classification type
A.2.62) (ISO/FDIS 23150-1,
6.5.15)
Alternative VRO (ISO/
FDIS 23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
ISO/FDIS 23150-2:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Recognition classification M Profile: Recognition
type – confidence (ISO/ classification type
FDIS 23150-1, A.2.63) (ISO/FDIS 23150-1,
6.5.15)
Road level (A.2.3) O Redundancy (ISO/FDIS
23150-1, B.1.3)
Signal: {z} of Position
{x, y, z} (ISO/FDIS
23150-1, A.2.43)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
↪ Potentially M Position {x, y, z} (ISO/FDIS {M, M, O} Profile: Object pose
moving object 23150-1, A.2.43) (ISO/FDIS 23150-1,
position 7.5.3)
Profile: Motion state
vector (5.2.4.2)
Position {x, y, z} – error (ISO/ C Profile: Object pose
FDIS 23150-1, A.2.44) Analog: Position {x, y, (ISO/FDIS 23150-1,
z} (ISO/FDIS 23150-1, 7.5.3)
A.2.43)
Profile: Motion state
vector (5.2.4.2)
Implementation EM
(ISO/FDIS 23150-1,
B.4.2)
Orientation {yaw, pitch, roll} {C (ISO/FDIS 23150-1, Profile: Object pose
(ISO/FDIS 23150-1, A.3.22) B.2.2) (ISO/FDIS 23150-1,
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/FDIS 23150-1, (ISO/FDIS 23150-1,
A.3.23) 7.5.3)
Profile: Motion state
vector (5.2.4.2)
Implementation EM
(ISO/FDIS 23150-1,
B.4.2)
Reference point {x, y, z} (ISO/ O Profile: Object pose
FDIS 23150-1, A.3.24) (ISO/FDIS 23150-1,
7.5.3)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
ISO/FDIS 23150-2:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Potentially C (ISO/FDIS Bounding box extent {length, C Profile: Object pose
moving object 23150-1, B.2.2) width, height} (ISO/FDIS Analog: Position {x, y, (ISO/FDIS 23150-1,
bounding box Relevant: cam- 23150-1, A.3.25) z} (ISO/FDIS 23150-1, 7.5.3)
era A.2.43)
Bounding box extent {length, O Profile: Object pose
width, height} – error (ISO/ (ISO/FDIS 23150-1,
FDIS 23150-1, A.3.26) 7.5.3)
Implementation EM
(ISO/FDIS 23150-1,
B.4.2)
Clearance of the object O
{height} (A.2.4)
Included geometric struc- O Optimise DE (ISO/FDIS
tures (A.2.5) 23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, 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/FDIS 23150-1,
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/FDIS 23150-1,
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/FDIS 23150-1,
B.4.2)
Instantaneous centre of rota- C (ISO/FDIS 23150-1,
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/FDIS 23150-1,
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/FDIS 23150-1,
B.4.2)
ISO/FDIS 23150-2:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Movement status (A.2.14) O Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
↪ Potentially C (ISO/FDIS Number of valid lights M Optimise LL (ISO/FDIS
moving object’s 23150-1, B.2.2) (A.2.15) 23150-1, B.1.2)
lights Relevant: cam-
Alternative UTL (ISO/
era
FDIS 23150-1, 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/
FDIS 23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Light status (A.2.17) M Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
↪ Potentially O Number of valid persons M Optimise LL (ISO/FDIS
moving object: (A.2.18) 23150-1, B.1.2)
persons
Size type: dynamic/fixed
Size #: Number of valid persons (A.2.18)
Number of valid person M Optimise LL (ISO/FDIS
type roles (A.2.19) 23150-1, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, 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) FDIS 23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Person type role – M
confidence (A.2.21)
Number of valid person O Optimise LL (ISO/FDIS
gestures (A.2.22) 23150-1, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, B.1.7)
Key: Person gesture in-
dication type (A.2.23)
ISO/FDIS 23150-2:2026(en)
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) FDIS 23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Person gesture indica- O
tion type – confidence
(A.2.24)
Number of valid person’s M Optimise LL (ISO/FDIS
body part poses (A.2.25) 23150-1, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, 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) FDIS 23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, 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/FDIS 23150-1,
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/FDIS 23150-1,
(A.2.30) B.4.2)
ISO/FDIS 23150-2:2026(en)
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/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, 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/FDIS 23150-1,
B.4.2)
Action type (A.2.35) O Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Action type – confidence O
(A.2.36)
Number of valid person O Optimise LL (ISO/FDIS
accessories (A.2.37) 23150-1, B.1.2)
Alternative UTL (ISO/
FDIS 23150-1, 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 FDIS 23150-1, B.1.4)
(A.2.38)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Person accessory O
classification type –
confidence (A.2.39)
Accessory connec- O Optimise DE (ISO/FDIS
tion to person type 23150-1, B.1.8)
(A.2.40)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Included geometric O Optimise DE (ISO/FDIS
structure of accessory 23150-1, B.1.8)
(A.2.41)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
↪ Lane related O Object lane association M Optimise DE (ISO/FDIS
information (A.2.42) 23150-1, B.1.8)
Optimise EES (ISO/
FDIS 23150-1, B.1.9)
Angle between object edge O
and ego lane boundary {left
edge right lane, right edge
left lane} (A.2.43)
ISO/FDIS 23150-2:2026(en)
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/FDIS 23150-1,
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/FDIS Entity radar cross section M
technology 23150-1, B.2.2) (A.2.50)
specific Relevant: radar
↪ Lidar sensor C (ISO/FDIS Entity lidar reflectivity M
technology 23150-1, 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/FDIS
23150-1, 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/FDIS 23150-1, 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).
ISO/FDIS 23150-2:2026(en)
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/FDIS 23150-1, A.1.2) (ISO/FDIS 23150-1, 6.5.1)
Interface ID (ISO/FDIS 23150-1, A.1.3) Optional Profile: Uniqueness of interface versioning
(ISO/FDIS 23150-1, 6.5.1)
Number of valid serving sensors (ISO/FDIS Mandatory Profile: Uniqueness of interface versioning
23150-1, A.1.4) (ISO/FDIS 23150-1, 6.5.1)
Optimise LL (ISO/FDIS 23150-1, B.1.2)
Alternative UTL (ISO/FDIS 23150-1, B.1.7)
Key: Sensor ID (ISO/FDIS 23150-1, A.1.5)
↪ Sensor ID (ISO/FDIS 23150-1, A.1.5) Mandatory Profile: Uniqueness of interface versioning
(ISO/FDIS 23150-1, 6.5.1)
Alternative VRO (ISO/FDIS 23150-1, B.1.4)
Time stamp – prediction (ISO/FDIS 23150-1, Mandatory
A.1.6.1)
Cycle counter (ISO/FDIS 23150-1, A.1.7.1) Optional Redundancy (ISO/FDIS 23150-1, B.1.3)
Signal: Time stamp – measurement (ISO/FDIS
23150-1, A.1.6.2)
Interface cycle time (ISO/FDIS 23150-1, A.1.8) Optional
Interface cycle time – variation (ISO/FDIS Optional
23150-1, A.1.9)
Data qualifier (ISO/FDIS 23150-1, A.1.10) Mandatory Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
Motion type (A.1.2) Mandatory Profile: Motion type (5.2.4.1)
Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
a
... Need of logical signal group (ISO/FDIS 23150-
1, B.3.4)
Profile: Vehicle coordinate system (ISO/FDIS
23150-1, 6.5.4)
Profile: Sensor pose (ISO/FDIS 23150-1,
6.5.5)
Profile: Calibration (ISO/FDIS 23150-1, 6.5.6)
Profile: Sensor cluster (ISO/FDIS 23150-1,
6.5.7)
Potentially moving objects
Recognised objects – capability – potentially Optional
moving objects (A.1.3.1)
Recognised objects – status – potentially Optional Redundancy (ISO/FDIS 23150-1, B.1.3)
moving objects (A.1.4.1) Signal: Recognised objects – capability – po-
tentially moving objects (A.1.3.1)
Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
Number of valid objects – potentially moving Mandatory Optimise LL (ISO/FDIS 23150-1, B.1.2)
objects (A.1.5.1)
↪ Potentially moving object entities
a [1]
Further signals of "Need of logical signal group" (ISO/FDIS 23150-1 , 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.

ISO/FDIS 23150-2:2026(en)
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/FDIS 23150-1, 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/FDIS 23150-1, 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/FDIS Mandatory
23150-1, A.3.2)
Object ID (ISO/FDIS 23150-1, A.3.3) Mandatory Alternative A2I (ISO/FDIS 23150-1, B.3.3)
Object grouping ID (ISO/FDIS 23150-1, A.3.4) Optional
Age (ISO/FDIS 23150-1, A.2.22) Mandatory Profile: Observations (ISO/FDIS 23150-1,
6.5.8)
Number of valid observations (ISO/FDIS Optional Profile: Observations (ISO/FDIS 23150-1,
23150-1, A.2.23) 6.5.8)
Optimise LL (ISO/FDIS 23150-1, B.1.2)
Alternative UTL (ISO/FDIS 23150-1, B.1.7)
Key: Time stamp reference (ISO/FDIS 23150-
1, A.2.24)
1) The LSG is DEPRECATED.
ISO/FDIS 23150-2:2026(en)
TTabablele 4 4 ((ccoonnttiinnueuedd))
↪ Time stamp reference (ISO/FDIS 23150-1, Mandatory Profile: Observations (ISO/FDIS 23150-1,
A.2.24) 6.5.8)
Alternative VRO (ISO/FDIS 23150-1, B.1.4)
↪ Observation status (ISO/FDIS 23150-1, Mandatory Profile: Observations (ISO/FDIS 23150-1,
A.2.25) 6.5.8)
Redundancy (ISO/FDIS 23150-1, B.1.3)
Signal: Object ID (ISO/FDIS 23150-1, A.3.3),
Time stamp – prediction (ISO/FDIS 23150-1,
A.1.6.1)
Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
Track quality (ISO/FDIS 23150-1, A.3.5) Optional
Measurement status (ISO/FDIS 23150-1, Mandatory Profile: Measurement status (ISO/FDIS
A.2.68) 23150-1, 6.5.18)
Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, 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
same signal’s "Object grouping ID"(ISO/FDIS 23150-1, 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
[1]
error model according to ISO/FDIS 23150-1 , B.4.1.3.5. For example, the motion state vector of the sensor
[1]
is provided together with an enhanced error model {"Position {x, y, z}" (ISO/FDIS 23150-1 , A.2.43),
[1]
"Velocity {x, y, z}" (A.2.6), "Orientation {yaw, pitch, roll}" (ISO/FDIS 23150-1 , A.3.21) and "Rotation rate at
instantaneous centre of rotation {yaw}" (A.2.12)}.
[1]
The resulting error model based on variances, covariances and cross-covariances (see ISO/FDIS 23150-1 ,
[1]
B.4.1.3.4 and ISO/FDIS 23150-1 , B.4.1.3.5) may provide a symmetric nD matrix:
(1)
Key
[1]
"Position – error" corresponds to the signal "Position {x, y, z} – error" (ISO/FDIS 23150-1 ,
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/
[1]
FDIS 23150-1 , A.3.22).
"Rotation rate – error" corresponds to the signal "Rotation rate at instantaneous centre of
rotation {yaw} – error" (A.2.13).

ISO/FDIS 23150-2:2026(en)
[1]
In addition to existing error signals "Position {x, y, z} – error" (ISO/FDIS 23150-1 , A.2.44), "Velocity {x, y,
[1]
z} – error" (A.2.7), "Orientation {yaw, pitch, roll} – error" (ISO/FDIS 23150-1 , 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
[1]
of the signals "Position {x, y, z} – error" (ISO/FDIS 23150-1 , A.2.44), "Velocity {x, y, z} – error" (A.2.7),
[1]
"Orientation {yaw, pitch, roll} – error" (ISO/FDIS 23150-1 , A.3.22) and "Rotation rate at instantaneous
centre of rotation {yaw} – error" (A.2.13) shall not transmit redundant values (see optimisation method
[1]
ISO/FDIS 23150-1 , 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/FDIS 23150-1 {M, M, O} Profile: Motion state
[1]
moving object , A.2.43) vector (5.2.4.2)
position
Position {x, y, z} – error (ISO/FDIS C Profile: Motion state
[1]
23150-1 , A.2.44) Analog: Position vector (5.2.4.2)
{x, y, z} (ISO/FDIS …
[1]
23150-1 , A.2.43)
Orientation {yaw, pitch, roll} (ISO/ {C (ISO/FDIS Profile: Motion state
[1] [1]
FDIS 23150-1 , A.2.43), A.3.21) 23150-1 , B.2.2) vector (5.2.4.2)
Relevant: camera,
O, O}
Orientation {yaw, pitch, roll} O Profile: Motion state
[1]
– error (ISO/FDIS 23150-1 , vector (5.2.4.2)
A.3.22) …
… … …
↪ Potentially M Velocity {x, y, z} (A.2.6) C Profile: Motion state
moving object Analog: Position vector (5.2.4.2)
dynamics {x, y, z} (ISO/FDIS …
[1]
23150-1 , 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
The signal’s RL is optional by definition of ISO/FDIS 231
...

ISO/DISFDIS 23150-2
ISO/TC 22/SC 31
Secretariat: DIN
Date: 2025-11-252026-02-10
Road vehicles — Logical interface 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
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DISFDIS stage
Warning for WD’s and CD’s
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.

ISO/DISFDIS 23150-2:20252026(en)
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: + 41 22 749 01 11
E-mail: [e-mail]
Website: www.iso.org
Published in Switzerland
iv
ISO/DISFDIS 23150-2:20252026(en)
Contents
Foreword . vi
Introduction . vii
1 Scope . 1
2 Normative references . 2
3 Terms and definitions . 2
4 Abbreviated terms . 2
5 Object level . 3
5.1 General . 3
5.2 Potentially moving object . 4
5.3 Road object . 21
5.4 Static object . 41
5.5 Free-space object . 101
Annex A (normative) Interface signals . 120
Bibliography . 214

v
ISO/DISFDIS 23150-2:20252026(en)
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
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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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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
http://www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 31, Data
communication.
This first edition of ISO 23150-2, together with [1], [2], [3], [4], [5], [6] and [7]ISO 23150-1, ISO 23150-11, ISO
23150-12, ISO 23150-13, 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
terms and definitions defined in ISO/FDIS 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 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.htmlwww.iso.org/members.html.
vi
ISO/DISFDIS 23150-2:20252026(en)
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.
0 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 of the object level interface in the [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.
vii
ISO/DISFDIS 23150-2:20252026(en)
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]).).
This document is not intended to replace the logical interface specifications of other documents in the ISO
23150 series.
This document is based on the generic specifications in [1] as shown in 0:
— generic object level interface;
— general level-independent profiles.

Key
scope of this document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150 series
viii
ISO/DISFDIS 23150-2:20252026(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 is based on the generic specifications in as shown in :
— generic object level interface;
— general level-independent profiles.

Key
ISO/DISFDIS 23150-2:20252026(en)
scope of this document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150 series
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/DISFDIS 23150-1, 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/DISFDIS 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
ISO/DISFDIS 23150-2:20252026(en)
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 [1]ISO/DIS 23150-1,, Clause 7. The object
level interfaces shall basebased on the generic object level interface as specified in ISO/DISFDIS 23150-1, 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().).
ISO/DISFDIS 23150-2:20252026(en)
5.2 Potentially moving object
5.2.1 Potentially moving object interface
The potentially moving object interface (0()) 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 0)) and that are
not definitely static three-dimensional structures. 0 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 0 shall be implemented in accordance with the interface definition specified in 0,,
the signals as defined in Annex A and ISO/DISFDIS 23150-1, Annex A. Furthermore, the generic profiles as
defined in 5.2.4 and in ISO/DISFDIS 23150-1 as well as the signal options defined in ISO/DISFDIS 23150-1,
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/DISFDIS interface versioning
23150-1, A.1.2) (ISO/DISFDIS 23150-
1, 6.5.1)
Interface ID (ISO/DISFDIS O Profile: Uniqueness of
23150-1, A.1.3) interface versioning
(ISO/DISFDIS 23150-
1, 6.5.1)
Number of valid serving M Profile: Uniqueness of
sensors (ISO/DISFDIS 23150-1, interface versioning
A.1.4) (ISO/DISFDIS 23150-
1, 6.5.1)
Optimise LL
(ISO/DISFDIS 23150-
116, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-
1, B.1.7)
Key: Sensor ID
(ISO/DISFDIS 23150-
1, A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO/DISFDIS 23150-1, A.1.4)
Sensor ID (ISO/DISFDIS M Profile: Uniqueness of
23150-1, A.1.5) interface versioning
(ISO/DISFDIS 23150-
1, 6.5.1)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Alternative VRO
(ISO/DISFDIS 23150-
1, B.1.4)
Time stamp – prediction M
(ISO/DISFDIS 23150-1, A.1.6.1)
Cycle counter (ISO/DISFDIS O Redundancy
23150-1, A.1.7.1) (ISO/DISFDIS 23150-
1, B.1.3)
Signal: Time stamp –
prediction
(ISO/DISFDIS 23150-
1, A.1.6.1)
Interface cycle time O
(ISO/DISFDIS 23150-1, A.1.8)
Interface cycle time – variation O
(ISO/DISFDIS 23150-1, A.1.9)
Data qualifier (ISO/DISFDIS M Optimise DE
23150-1, A.1.10) (ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Motion type (A.1.2()) M Profile: Motion type
(5.2.4.1())
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Potentially moving objects
Potentially M Recognised objects – capability O
moving objects – potentially moving objects
information (A.1.3.1())
Recognised objects – status – O Redundancy
potentially moving objects (ISO/DISFDIS 23150-
(A.1.4.1()) 1, B.1.3)
Signal: Recognised
objects – capability –
potentially moving
objects (A.1.3.1())
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Number of valid objects – M Optimise LL
potentially moving objects (ISO/DISFDIS 23150-
(A.1.5.1()) 1, B.1.2)
Size type: dynamic/fixed
Size #: Number of valid objects – potentially moving objects (A.1.5.1())
↪ Potentially M Existence probability – M
moving object object level (ISO/DISFDIS
status 23150-1, A.3.2)
Object ID (ISO/DISFDIS M Alternative A2I
23150-1, A.3.3) (ISO/DISFDIS 23150-
1, B.3.3)
Object grouping ID O
(ISO/DISFDIS 23150-1,
A.3.4)
Age (ISO/DISFDIS 23150-1, M Profile: Observations
A.2.22) (ISO/DISFDIS 23150-
1, 6.5.8)
Number of valid O Profile: Observations
observations (ISO/DISFDIS (ISO/DISFDIS 23150-
23150-1, A.2.23) 1, 6.5.8)
Optimise LL
(ISO/DISFDIS 23150-
1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-
1, B.1.7)
Key: Time stamp
reference
(ISO/DISFDIS 23150-
1, A.2.24)
Size type: dynamic/fixed
Size #: Number of valid observations (ISO/DISFDIS 23150-1, A.2.23)
Time stamp reference M Profile: Observations
(ISO/DISFDIS 23150-1, (ISO/DISFDIS 23150-
A.2.24) 1, 6.5.8)
Alternative VRO
(ISO/DISFDIS 23150-
1, B.1.4)
Observation status M Profile: Observations
(ISO/DISFDIS 23150-1, (ISO/DISFDIS 23150-
A.2.25) 1, 6.5.8)
Redundancy
(ISO/DISFDIS 23150-
1, B.1.3)
Signal: Object ID
(ISO/DISFDIS 23150-
1, A.3.3), Time stamp
– prediction
(ISO/DISFDIS 23150-
1, A.1.6.1)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Track quality (ISO/DISFDIS O
23150-1, A.3.5)
Measurement status M Profile: Measurement
(ISO/DISFDIS 23150-1, status (ISO/DISFDIS
A.2.68) 23150-1, 6.5.18)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Potentially M Tracking motion model O Optimise DE
moving object (A.2.2()) (ISO/DISFDIS 23150-
information 1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Number of valid recognition M Profile: Recognition
classifications (ISO/DISFDIS classification type
23150-1, A.2.61) (ISO/DISFDIS 23150-
1, 6.5.15)
Optimise LL
(ISO/DISFDIS 23150-
1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-
1, B.1.7)
Key: Recognition
classification type
(ISO/DISFDIS 23150-
1, A.2.62)
Size type: dynamic/fixed
Size #: Number of valid recognition classifications (ISO/DISFDIS 23150-1,
A.2.61)
Recognition M Profile: Recognition
classification type classification type
(ISO/DISFDIS 23150-1, (ISO/DISFDIS 23150-
A.2.62) 1, 6.5.15)
Alternative VRO
(ISO/DISFDIS 23150-
1, B.1.4)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Recognition M Profile: Recognition
classification type – classification type
confidence (ISO/DISFDIS 23150-
(ISO/DISFDIS 23150-1, 1, 6.5.15)
A.2.63)
Road level (A.2.3()) O Redundancy
(ISO/DISFDIS 23150-
1, B.1.3)
Signal: {z} of Position
{x, y, z} (ISO/DISFDIS
23150-1, A.2.43)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Potentially M Position {x, y, z} {M, M, O} Profile: Object pose
moving object (ISO/DISFDIS 23150-1, (ISO/DISFDIS 23150-
position A.2.43) 1, 7.5.3)
Profile: Motion state
vector (5.2.4.2())
Position {x, y, z} – error C Profile: Object pose
(ISO/DISFDIS 23150-1, Analog: Position {x, (ISO/DISFDIS 23150-
A.2.44) y, z} (ISO/DISFDIS 1, 7.5.3)
23150-1, A.2.43)
Profile: Motion state
vector (5.2.4.2())
Implementation EM
(ISO/DISFDIS 23150-
1, B.4.2)
Orientation {yaw, pitch, {C (ISO/DISFDIS Profile: Object pose
roll} (ISO/DISFDIS 23150-1, 23150-1, B.2.2) (ISO/DISFDIS 23150-
A.3.22) Relevant: camera, O, 1, 7.5.3)
O}
Profile: Motion state
vector (5.2.4.2())
Orientation {yaw, pitch, O Profile: Object pose
roll} – error (ISO/DISFDIS (ISO/DISFDIS 23150-
23150-1, A.3.23) 1, 7.5.3)
Profile: Motion state
vector (5.2.4.2())
Implementation EM
(ISO/DISFDIS 23150-
1, B.4.2)
Reference point {x, y, z} O Profile: Object pose
(ISO/DISFDIS 23150-1, (ISO/DISFDIS 23150-
A.3.24) 1, 7.5.3)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Potentially C Bounding box extent C Profile: Object pose
moving object (ISO/DISFDIS {length, width, height} Analog: Position {x, (ISO/DISFDIS 23150-
bounding box 23150-1, (ISO/DISFDIS 23150-1, y, z} (ISO/DISFDIS 1, 7.5.3)
B.2.2) A.3.25) 23150-1, A.2.43)
Relevant:
Bounding box extent O Profile: Object pose
camera
{length, width, height} – (ISO/DISFDIS 23150-
error (ISO/DISFDIS 23150- 1, 7.5.3)
1, A.3.26)
Implementation EM
(ISO/DISFDIS 23150-
1, B.4.2)
Clearance of the object O
{height} (A.2.4())
Included geometric O Optimise DE
structures (A.2.5()) (ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Potentially M Velocity {x, y, z} (A.2.6()) C Profile: Motion type
moving object Analog: Position {x, (5.2.4.1())
dynamics y, z} (ISO/DISFDIS
Profile: Motion state
23150-1, 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/DISFDIS 23150-
1, B.4.2)
Acceleration {x, y, z} O Profile: Motion type
(A.2.8()) (5.2.4.1())
Acceleration {x, y, z} – error O Profile: Motion type
(A.2.9()) (5.2.4.1())
Implementation EM
(ISO/DISFDIS 23150-
1, B.4.2)
Instantaneous centre of C (ISO/DISFDIS
rotation {x, y} (A.2.10()) 23150-1, B.2.3)
Signal: Rotation rate
at instantaneous
centre of rotation
{yaw} (A.2.12())
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Instantaneous centre of O Implementation EM
rotation {x, y} – error (ISO/DISFDIS 23150-
(A.2.11()) 1, B.4.2)
Rotation rate at O Profile: Motion type
instantaneous centre of (5.2.4.1())
rotation {yaw} (A.2.12())
Profile: Motion state
vector (5.2.4.2())
Rotation rate at O Profile: Motion type
instantaneous centre of (5.2.4.1())
rotation {yaw} – error
Profile: Motion state
(A.2.13())
vector (5.2.4.2())
Implementation EM
(ISO/DISFDIS 23150-
1, B.4.2)
Movement status (A.2.14()) O Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Potentially C Number of valid lights M Optimise LL
moving (ISO/DISFDIS (A.2.15()) (ISO/DISFDIS 23150-
object’s lights 23150-1, 1, B.1.2)
B.2.2)
Alternative UTL
Relevant:
(ISO/DISFDIS 23150-
camera
1, 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/DISFDIS 23150-
1, B.1.4)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Light status (A.2.17()) M Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Potentially O Number of valid persons M Optimise LL
moving object: (A.2.18()) (ISO/DISFDIS 23150-
persons 1, B.1.2)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Size type: dynamic/fixed
Size #: Number of valid persons (A.2.18())
Number of valid person M Optimise LL
type roles (A.2.19()) (ISO/DISFDIS 23150-
1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-
1, 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
(A.2.20()) (ISO/DISFDIS 23150-
1, B.1.4)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Person type role – M
confidence (A.2.21())
Number of valid person O Optimise LL
gestures (A.2.22()) (ISO/DISFDIS 23150-
1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-
1, B.1.7)
Key: Person gesture
indication type
(A.2.23())
Size type: dynamic/fixed
Size #: Number of valid person gestures (A.2.22())
Person gesture M Alternative VRO
indication type (ISO/DISFDIS 23150-
(A.2.23()) 1, B.1.4)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Person gesture O
indication type –
confidence (A.2.24())
Number of valid M Optimise LL
person’s body part (ISO/DISFDIS 23150-
poses (A.2.25()) 1, B.1.2)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Alternative UTL
(ISO/DISFDIS 23150-
1, 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
(A.2.26()) (ISO/DISFDIS 23150-
1, B.1.4)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Person body part M
orientation {yaw,
pitch, roll} (A.2.27())
Person body part O Implementation EM
orientation {yaw, (ISO/DISFDIS 23150-
pitch, roll} – error 1, B.4.2)
(A.2.28())
Person body part O
origin {x, y, z}
(A.2.29())
Person body part O Implementation EM
origin {x, y, z} – error (ISO/DISFDIS 23150-
(A.2.30()) 1, B.4.2)
Eye state (A.2.31()) O Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, 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/DISFDIS 23150-
1, B.4.2)
Action type (A.2.35()) O Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Action type – confidence O
(A.2.36())
Number of valid person O Optimise LL
accessories (A.2.37()) (ISO/DISFDIS 23150-
1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-
1, B.1.7)
Key: Person accessory
classification type
(A.2.38())
Size type: dynamic/fixed
Size #: Number of valid person accessories (A.2.37())
Person accessory M Alternative VRO
classification type (ISO/DISFDIS 23150-
(A.2.38()) 1, B.1.4)
Optimise DE
(ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Person accessory O
classification type –
confidence (A.2.39())
Accessory O Optimise DE
connection to person (ISO/DISFDIS 23150-
type (A.2.40()) 1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Included geometric O Optimise DE
structure of (ISO/DISFDIS 23150-
accessory (A.2.41()) 1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
↪ Lane related O Object lane association M Optimise DE
information (A.2.42()) (ISO/DISFDIS 23150-
1, B.1.8)
Optimise EES
(ISO/DISFDIS 23150-
1, B.1.9)
Angle between object edge O
and ego lane boundary {left
edge right lane, right edge
left lane} (A.2.43())
Angle between object edge O Implementation EM
and ego lane boundary {left (ISO/DISFDIS 23150-
1, B.4.2)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
edge right lane, right edge
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 O Angular position {azimuth} O
related (A.2.47())
information
Angular velocity {azimuth} M
(A.2.48())
DEPRECATED: O DEPRECATED: Scale change M
↪ Camera – object level (A.2.49())
sensor
technology
specific
↪ Radar C Entity radar cross section M
sensor (ISO/DISFDIS (A.2.50())
technology 23150-1,
specific B.2.2)
Relevant:
radar
↪ Lidar sensor C Entity lidar reflectivity M
technology (ISO/DISFDIS (A.2.51())
specific 23150-1,
B.2.2)
Relevant: lidar
ISO/DISFDIS 23150-2:20252026(en)

Key
1 vehicle
2 pedestrian
3 potentially moving object – classification unknown, for example, "Recognition classification type" (ISO/DISFDIS 23150-1, A.2.62)
with enumerator "PMOCT_Unknown"
Figure 3 — Example for potentially moving objects
5.2.2 Potentially moving object header
0 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/DISFDIS 23150-1, 7.3, which shall be used
as the interface header. The header of the 0 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/DISFDIS 23150-1, A.1.2) (ISO/DISFDIS 23150-1, 6.5.1)
ISO/DISFDIS 23150-2:20252026(en)
Interface ID (ISO/DISFDIS 23150-1, A.1.3) Optional Profile: Uniqueness of interface versioning
(ISO/DISFDIS 23150-1, 6.5.1)
Number of valid serving sensors Mandatory Profile: Uniqueness of interface versioning
(ISO/DISFDIS 23150-1, A.1.4) (ISO/DISFDIS 23150-1, 6.5.1)
Optimise LL (ISO/DISFDIS 23150-1, B.1.2)
Alternative UTL (ISO/DISFDIS 23150-1,
B.1.7)
Key: Sensor ID (ISO/DISFDIS 23150-1, A.1.5)
↪ Sensor ID (ISO/DISFDIS 23150-1, A.1.5) Mandatory Profile: Uniqueness of interface versioning
(ISO/DISFDIS 23150-1, 6.5.1)
Alternative VRO (ISO/DISFDIS 23150-1,
B.1.4)
Time stamp – prediction (ISO/DISFDIS Mandatory
23150-1, A.1.6.1)
Cycle counter (ISO/DISFDIS 23150-1, Optional Redundancy (ISO/DISFDIS 23150-1, B.1.3)
A.1.7.1) Signal: Time stamp – measurement
(ISO/DISFDIS 23150-1, A.1.6.2)
Interface cycle time (ISO/DISFDIS 23150-1, Optional
A.1.8)
Interface cycle time – variation (ISO/DISFDIS Optional
23150-1, A.1.9)
Data qualifier (ISO/DISFDIS 23150-1, A.1.10) Mandatory Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
Motion type (A.1.2()) Mandatory Profile: Motion type (5.2.4.1())
Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
a
...  Need of logical signal group (ISO/DISFDIS
23150-1, B.3.4)
Profile: Vehicle coordinate system
(ISO/DISFDIS 23150-1, 6.5.4)
Profile: Sensor pose (ISO/DISFDIS 23150-1,
6.5.5)
Profile: Calibration (ISO/DISFDIS 23150-1,
6.5.6)
Profile: Sensor cluster (ISO/DISFDIS 23150-
1, 6.5.7)
Potentially moving objects
Recognised objects – capability – potentially Optional
moving objects (A.1.3.1())
Recognised objects – status – potentially Optional Redundancy (ISO/DISFDIS 23150-1, B.1.3)
moving objects (A.1.4.1()) Signal: Recognised objects – capability –
potentially moving objects (A.1.3.1())
Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
Number of valid objects – potentially moving Mandatory Optimise LL (ISO/DISFDIS 23150-1, B.1.2)
objects (A.1.5.1())
↪ Potentially moving object entities
ISO/DISFDIS 23150-2:20252026(en)
a
Further signals of "Need of logical signal group" ([1](ISO/DIS 23150-1,, 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. 0 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/DISFDIS 23150-1, 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/DISFDIS 23150-1, 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).
1)
The LSG is DEPRECATED.
ISO/DISFDIS 23150-2:20252026(en)
Table 4 — Specific signal grouping: Potentially moving object entity status
Signal RL signal Option
Existence probability – object level Mandatory
(ISO/DISFDIS 23150-1, A.3.2)
Object ID (ISO/DISFDIS 23150-1, A.3.3) Mandatory Alternative A2I (ISO/DISFDIS 23150-1,
B.3.3)
Object grouping ID (ISO/DISFDIS 23150-1, Optional
A.3.4)
Age (ISO/DISFDIS 23150-1, A.2.22) Mandatory Profile: Observations (ISO/DISFDIS 23150-1,
6.5.8)
Number of valid observations (ISO/DISFDIS Optional Profile: Observations (ISO/DISFDIS 23150-1,
23150-1, A.2.23) 6.5.8)
Optimise LL (ISO/DISFDIS 23150-1, B.1.2)
Alternative UTL (ISO/DISFDIS 23150-1,
B.1.7)
Key: Time stamp reference (ISO/DISFDIS
23150-1, A.2.24)
↪ Time stamp reference (ISO/DISFDIS Mandatory Profile: Observations (ISO/DISFDIS 23150-1,
23150-1, A.2.24) 6.5.8)
Alternative VRO (ISO/DISFDIS 23150-1,
B.1.4)
↪ Observation status (ISO/DISFDIS 23150-1, Mandatory Profile: Observations (ISO/DISFDIS 23150-1,
A.2.25) 6.5.8)
Redundancy (ISO/DISFDIS 23150-1, B.1.3)
Signal: Object ID (ISO/DISFDIS 23150-1,
A.3.3), Time stamp – prediction
(ISO/DISFDIS 23150-1, A.1.6.1)
Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
Track quality (ISO/DISFDIS 23150-1, A.3.5) Optional
Measurement status (ISO/DISFDIS 23150-1, Mandatory Profile: Measurement status (ISO/DISFDIS
A.2.68) 23150-1, 6.5.18)
Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Optimise EES (ISO/DISFDIS 23150-1, 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 same
signal’s "Object grouping ID"(ISO/DISFDIS 23150-1, 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.
ISO/DISFDIS 23150-2:20252026(en)
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
error model according to [1]ISO/DIS 23150-1,, B.4.1.3.5. For example, the motion state vector of the sensor is
provided together with an enhanced error model {"Position {x, y, z}" ([1](ISO/DIS 23150-1,, A.2.43), "Velocity
{x, y, z}" (A.2.6(),), "Orientation {yaw, pitch, roll}" ([1](ISO/DIS 23150-1,, A.3.21) and "Rotation rate at
instantaneous centre of rotation {yaw}" (A.2.12()}.)}.
The resulting error model based on variances, covariances and cross-covariances (see [1]ISO/DIS 23150-1,,
B.4.1.3.4 and [1]ISO/DIS 23150-1,, B.4.1.3.5) may provide a symmetric nD matrix:
𝑃 𝑃×𝑉 𝑃×𝑂 𝑃×𝑅
( ) ( ) ( )
error error error error
(𝑉×𝑃) 𝑉 (𝑉×𝑂) (𝑉×𝑅)
error error error error
(1)
(𝑂×𝑃) (𝑂×𝑉) 𝑂 (𝑂×𝑅)
error error error error
(𝑅×𝑃) (𝑅×𝑉) (𝑅×𝑂) 𝑅
{ error error error error }
Key
𝑃 "Position – error" corresponds to the signal "Position {x, y, z} – error" ([1](ISO/DIS 23150-1,, A.2.44).
error
𝑉 "Velocity – error" corresponds to the signal "Velocity {x, y, z} – error" (A.2.7().).
error
𝑂 "Orientation – error" corresponds to the signal "Orientation {yaw, pitch, roll} – error" ([1](ISO/DIS 23150-1,,
error
A.3.22).
𝑅 "Rotation rate – error" corresponds to the signal "Rotation rate at instantaneous centre of rotation {yaw} – error"
error
(A.2.13().).
In addition to existing error signals "Position {x, y, z} – error" ([1](ISO/DIS 23150-1,, A.2.44), "Velocity {x, y,
z} – error" (A.2.7(),), "Orientation {yaw, pitch, roll} – error" ([1](ISO/DIS 23150-1,, 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
of the signals "Position {x, y, z} – error" ([1](ISO/DIS 23150-1,, A.2.44), "Velocity {x, y, z} – error" (A.2.7(),),
"Orientation {yaw, pitch, roll} – error" ([1](ISO/DIS 23150-1,, A.3.22) and "Rotation rate at instantaneous
centre of rotation {yaw} – error" (A.2.13()) shall not transmit redundant values (see optimisation method
[1]ISO/DIS 23150-1,, B.1.6).
0 provides a subset of the 0 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} ([1](ISO/DIS {M, M, O} Profile: Motion state
moving object 23150-1,, A.2.43) vector (5.2.4.2())
position
Position {x, y, z} – error C Profile: Motion state
([1](ISO/DIS 23150-1,, A.2.44) Analog: Position vector (5.2.4.2())
{x, y, z} …
([1](ISO/DIS
23150-1,, A.2.43)
ISO/DISFDIS 23150-2:20252026(en)
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Orientation {yaw, pitch, roll} {C ([1](ISO/DIS Profile: Motion state
([1](ISO/DIS 23150-1,, A.2.43), 23150-1,, B.2.2) vector (5.2.4.2())
A.3.21) Relevant: camera,
O, O}
Orientation {yaw, pitch, roll} – O Profile: Motion state
error ([1](ISO/DIS 23150-1,, vector (5.2.4.2())
A.3.22) …
… … …
↪ Potentially M Velocity {x, y, z} (A.2.6()) C Profile: Motion state
moving object Analog: Position vector (5.2.4.2())
dynamics {x, y, z} …
([1](ISO/DIS
23150-1,, A.2.43)
Velocity {x, y, z} – error (A.2.7()) O Profile: Motion state
vector (5.2.4.2())
…
Rotation rate at instantaneous O Profile: Motion state
centre of rotation {yaw} vector (5.2.4.2())
(A.2.12()) …
Rotation rate at instantaneous O Profile: Motion state
centre of rotation {yaw} – error vector (5.2.4.2())
(A.2.13()) …
… … …
a
↪ Potentially O Position {x, y, z} x Velocity {x, y, z} O Implementation EM
moving object – error (ISO/DISFDIS 23150-
motion state 1, B.4.2)
vector cross-
Position {x, y, z} x Orientation O Implementation EM
covariances
{yaw, pitch, roll} – error (ISO/DISFDIS 23150-
1, B.4.2)
Position {x, y, z} x Rotation rate at O Implementation EM
instantaneous centre of rotation (ISO/DISFDIS 23150-
{yaw} – error 1, B.4.2)
Velocity {x, y, z} x Orientation O Implementation EM
{yaw, pitch, roll} – error (ISO/DISFDIS 23150-
1, B.4.2)
Velocity {x, y, z} x Rotation rate at O Implementation EM
instantaneous centre of rotation (ISO/DISFDIS 23150-
{yaw} – error 1, B.4.2)
Orientation {yaw, pitch, roll} x O Implementation EM
Rotation rate at instantaneous (ISO/DISFDIS 23150-
centre of rotation {yaw} – error 1, B.4.2)
a
The signal’s RL is optional by definition of ISO/DISFDIS 23150-1, 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 (position, velocity) or 1D (orientation, rotation rate).
ISO/DISFDIS 23150-2:20252026(en)
Optimisation method may be also applied by selection of most relevant covariance matrix elements (or cross-
covariance matrix elements).
Missing covariance values shall be subs
...