Road vehicles — Video communication interface for cameras (VCIC) — Part 3: Camera message dictionary

This document specifies the standardized camera messages and data types used by a VCIC camera (OSI layer 7). Applications hosted on ECUs want to communicate with one or more cameras (e.g. “Ask camera for parameters.”). If the applications can use standardized services supported by the cameras (API layer 7), the development of a vision application is independent on the camera used. The services can be implemented by general libraries. The definition of streaming data is not an issue of this API.

Véhicules routiers — Interface de communication vidéo pour caméras (ICVC) — Partie 3: Dictionnaire de message de caméra

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Published
Publication Date
24-May-2021
Current Stage
6060 - International Standard published
Start Date
25-May-2021
Completion Date
25-May-2021
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INTERNATIONAL ISO
STANDARD 17215-3
Second edition
2021-05
Road vehicles — Video communication
interface for cameras (VCIC) —
Part 3:
Camera message dictionary
Véhicules routiers — Interface de communication vidéo pour caméras
(ICVC) —
Partie 3: Dictionnaire de message de caméra
Reference number
ISO 17215-3:2021(E)
ISO 2021
---------------------- Page: 1 ----------------------
ISO 17215-3:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021

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

be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting

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
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved
---------------------- Page: 2 ----------------------
ISO 17215-3:2021(E)
Contents Page

Foreword ..........................................................................................................................................................................................................................................v

Introduction ................................................................................................................................................................................................................................vi

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

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

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

4 Symbols and abbreviated terms ........................................................................................................................................................... 2

5 Conventions ............................................................................................................................................................................................................... 2

6 Overview of ISO 17215 series ................................................................................................................................................................. 3

6.1 General ........................................................................................................................................................................................................... 3

6.2 Document overview and structure ........................................................................................................................................ 3

6.3 Open Systems Interconnection (OSI) model ................................................................................................................. 4

6.4 Document reference according to OSI model ............................................................................................................... 4

7 Camera application interface (OSI layer 7) ............................................................................................................................... 6

7.1 Specific properties ............................................................................................................................................................................... 6

7.2 API principles ........................................................................................................................................................................................... 6

7.2.1 Image cropping and windowing ......................................................................................................................... 7

7.3 API data types .......................................................................................................................................................................................... 7

7.4 API Return codes ................................................................................................................................................................................... 8

7.5 API enumerations ................................................................................................................................................................................. 8

7.5.1 Enumeration eMethodID .......................................................................................................................................... 8

7.5.2 Enumeration eEventGroupType ......................................................................................................................... 9

7.5.3 Enumeration eCamErrorCodes ........................................................................................................................10

7.5.4 Enumeration eCameraMode ...............................................................................................................................10

7.5.5 Enumeration eControlIndex ...............................................................................................................................11

7.5.6 Enumeration eControlSupportedModes ..................................................................................................11

7.5.7 Enumeration eControlMode ...............................................................................................................................11

7.5.8 Enumeration ePersistentStorageID ..............................................................................................................12

7.6 API structures .......................................................................................................................................................................................12

7.6.1 Structure sPixelPosition .........................................................................................................................................12

7.6.2 Structure sPixelMap ...................................................................................................................................................13

7.6.3 Structure sRectangle .................. ......................................................................................................................... .......13

7.6.4 Structure sImageDimension ...............................................................................................................................14

7.6.5 Structure sImagerRegister ...................................................................................................................................14

7.6.6 Structure sImagerRegisterBlock .....................................................................................................................14

7.6.7 Structure sImagerCharacteristic .....................................................................................................................14

7.6.8 Structure sIntrinsicCamParam .........................................................................................................................15

7.6.9 Structure sExtrinsicCamParam ........................................................................................................................16

7.6.10 Structure sPersistentEntryList .........................................................................................................................17

7.6.11 Structure sPersistentStorageEntry ...............................................................................................................17

7.6.12 Structure sTimeStamp .............................................................................................................................................18

7.6.13 Structure sDatasheet .................................................................................................................................................18

7.6.14 Structure sRegionOfInterest ...............................................................................................................................18

7.6.15 Structure sVideoFormat .........................................................................................................................................20

7.6.16 Structure sHistogramFormat .............................................................................................................................21

7.6.17 Structure sHistogramContent ............................................................................................................................22

7.6.18 Structure sVideoContent ........................................................................................................................................22

7.6.19 Structure sControlMode .........................................................................................................................................23

7.6.20 Structure sUnsignedCtl ...........................................................................................................................................23

7.6.21 Structure sSignedCtl ..................................................................................................................................................23

7.6.22 Structure sCombinedCtl .........................................................................................................................................24

7.6.23 Structure sCamControl ............................................................................................................................................24

7.6.24 Structure sCamStatus ...............................................................................................................................................24

© ISO 2021 – All rights reserved iii
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ISO 17215-3:2021(E)

7.6.25 Temperature .....................................................................................................................................................................25

7.7 API reference .........................................................................................................................................................................................28

7.7.1 getDataSheet (MethodID 0x0001) ................................................................................................................28

7.7.2 getCamStatus (MethodID 0002 ) .................................................................................................................28

7.7.3 setCamMode (MethodID 0003 )...................................................................................................................28

7.7.4 setCamExclusive (MethodID 0011 ) .........................................................................................................29

7.7.5 eraseCamExclusive (MethodID 0019 ) ...................................................................................................29

7.7.6 setHostParameters (MethodID 0022 ) ...................................................................................................30

7.7.7 getHostParameters (MethodID 0024 )...................................................................................................30

7.7.8 eraseHostParameters (MethodID 0029 ) .............................................................................................31

7.7.9 setRegionOfInterest (MethodID 0101 ) .................................................................................................31

7.7.10 setRegionsOfInterest (MethodID 0102 ) ..............................................................................................32

7.7.11 getRegionOfInterest (MethodID 0103 ) ................................................................................................32

7.7.12 getRegionsOfInterest (MethodID 0104 ) ..............................................................................................32

7.7.13 eraseRegionOfInterest (MethodID 0109 )...........................................................................................33

7.7.14 setVideoFormat (MethodID 0111 ) ...........................................................................................................33

7.7.15 getVideoFormat (MethodID 0113 ) ..........................................................................................................34

7.7.16 eraseVideoFormat (MethodID 0119 ) .....................................................................................................34

7.7.17 setHistogramFormat (MethodID 0121 ) ...............................................................................................35

7.7.18 getHistogramFormat (MethodID 0123 ) ..............................................................................................35

7.7.19 eraseHistogramFormat (MethodID 0129 ) .........................................................................................36

7.7.20 SubscribeROIVideo (MethodID 0131 ) ..................................................................................................36

7.7.21 UnSubscribeROIVideo (MethodID 0132 ) ...........................................................................................37

7.7.22 SubscribeROIHistogram (MethodID 0x0133) .....................................................................................37

7.7.23 UnSubscribeROIHistogram (MethodID 0x0134) ..............................................................................37

7.7.24 setCamControl (MethodID 0201 ) ..............................................................................................................38

7.7.25 setCamControls (MethodID 0202 ) ...........................................................................................................38

7.7.26 getCamControl (MethodID 0203 ) .............................................................................................................38

7.7.27 getCamControls (MethodID 0204 ) ...........................................................................................................39

7.7.28 setCamRegister (MethodID 0301 ) ............................................................................................................39

7.7.29 setCamRegisters (MethodID 0302 ) .........................................................................................................40

7.7.30 getCamRegister (MethodID 0303 ) ...........................................................................................................40

7.7.31 getCamRegisters (MethodID 0304 ) .........................................................................................................41

7.7.32 setUsedRegisterSet (MethodID 0305 ) ..................................................................................................41

7.8 Programming model for SOME/IP ......................................................................................................................................42

7.8.1 General...................................................................................................................................................................................42

7.8.2 Startup behaviour ........................................................................................................................................................43

7.8.3 Service discovery ..........................................................................................................................................................43

7.8.4 Event group handling ................................................................................................................................................46

7.9 PDU examples for SOME/IP ......................................................................................................................................................47

7.9.1 Request and response sequence (SOME/IP) ........................................................................................47

Bibliography .............................................................................................................................................................................................................................49

iv © ISO 2021 – All rights reserved
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ISO 17215-3:2021(E)
Foreword

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

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

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

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

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

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

electrotechnical standardization.

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

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

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

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

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

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

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

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

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

constitute an endorsement.

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

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

World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www .iso .org/

iso/ foreword .html.

This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 31,

Data communication.

This second edition cancels and replaces the first edition (ISO 17215-3:2014), which has been technically

revised.
The main changes compared to the previous edition are as follows:
— corrections of Formulae and scaling in 7.6.8;
— editorial adoptions and corrections.
A list of all parts in the ISO 17215 series can be found on the ISO website.

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

complete listing of these bodies can be found at www .iso .org/ members .html.
© ISO 2021 – All rights reserved v
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ISO 17215-3:2021(E)
Introduction

Driver assistance systems are increasingly common in road vehicles. From the beginning, cameras were

part of this trend. Analogue cameras were used in the beginning because of the lower complexity of the

first systems. With increasing demand for more advanced functionality, digital image processing has

been introduced. So-called one box design cameras (combining a digital image sensor and a processing

unit) started being used in vehicles.

Currently, the market demands such systems with multiple functions. Even different viewing directions

are in use. It seems plausible that in the near future a single vehicle could have between 6 and 12

cameras. For this reason and others like limitations in size, power consumption, etc., designs have been

made where the cameras are separated from the processing unit. Therefore, a high-performance digital

interface between camera and processing unit is necessary.

This document has been established in order to define the use cases, the communication protocol, and

the physical layer requirements of a video communication interface for cameras, which covers the

needs of driver assistance applications.
The video communication interface for cameras:

— incorporates the needs of the whole life cycle of an automotive grade digital camera,

— utilizes existing standards to define a long-term stable state-of-the-art video communication

interface for cameras, usable for operating and diagnosis purposes,

— can be easily adapted to new physical data link layers including wired and wireless connections by

using existing adaption layers, and
— is compatible with AUTOSAR.

This document is related to the general information and use case definition. This is a general overview

document which is not related to the OSI model.

To achieve this, it is based on the Open Systems Interconnection (OSI) basic reference model specified

in ISO/IEC 7498-1 and ISO/IEC 10731, which structures communication systems into seven layers.

When mapped on this model, the protocol and physical layer requirements specified by this document,

in accordance with Table 1 are broken into following layers:
— application (layer 7), specified in this document (ISO 17215-3);
— presentation layer (layer 6), specified in ISO 17215-2;
— session layer (layer 5), specified in ISO 17215-2;
— transport protocol (layer 4), specified in ISO 17215-4, ISO 13400-2;
— network layer (layer 3), specified in ISO 17215-4, ISO 13400-2;
— data link layer (layer 2), specified in ISO 17215-4, ISO 13400-3;
— physical layer (layer 1), specified in ISO 17215-4, ISO 13400-3.
vi © ISO 2021 – All rights reserved
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ISO 17215-3:2021(E)
Table 1 — Specifications applicable to the OSI layers
Video communication interface for camer-
Applicability OSI 7 layers Camera diagnostics
Seven layers Application (layer 7) ISO 17215-3
according to
Presentation (layer 6) ISO 17215-2
ISO 7498–1 and
Session (layer 5) ISO 17215-2
ISO/IEC 10731
Transport (layer 4) ISO 17215-4 Other future interface ISO 13400-2
standards
Network (layer 3)
Data link (layer 2) ISO 17215-4 ISO 13400-3
Physical (layer 1)

ISO 17215-1 has been established in order to define the use cases for vehicle communication systems

implemented on a video communication interface for cameras; it is an overall document not related to

the OSI model.

ISO 17215-2 covers the presentation layer implementation of the video communication interface for

cameras.

This document, ISO 17215-3, covers the application layer implementation of the video communication

interface for cameras; it includes the API.

ISO 17215-4 is the common standard for the OSI layers 1 to 4 for video communication interface for

cameras. It complements ISO 13400 2 and ISO 13400 3 and adds the requirement for video transmission

over Ethernet.

ISO 17215-2 and ISO 17215-3 (OSI layer 5 to 7) services have been defined to be independent of the

ISO 17215-4 (OSI layer 1 to 4) implementation. Therefore, ISO 17215-4 could be replaced by another

future communication document.
© ISO 2021 – All rights reserved vii
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INTERNATIONAL STANDARD ISO 17215-3:2021(E)
Road vehicles — Video communication interface for
cameras (VCIC) —
Part 3:
Camera message dictionary
1 Scope

This document specifies the standardized camera messages and data types used by a VCIC camera (OSI

layer 7).

Applications hosted on ECUs want to communicate with one or more cameras (e.g. “Ask camera for

parameters.”). If the applications can use standardized services supported by the cameras (API layer

7), the development of a vision application is independent on the camera used. The services can be

implemented by general libraries.
The definition of streaming data is not an issue of this API.
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 17215-1, Road vehicles — Video communication interface for cameras (VCIC) — Part 1: General

information and use case definition

ISO 17215-2, Road vehicles — Video communication interface for cameras (VCIC) — Part 2: Service

discovery and control

ISO 17215-4, Road vehicles — Video communication interface for cameras (VCIC) — Part 4: Implementation

of communication requirements
3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO 17215-1 and the following

apply.

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

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

parameter that denotes the coordinate system transformations from 3D world (vehicle) coordinates

(m,°) to 3D-camera coordinates (m,°)
3.2
frame rate
update rate per time of camera images
© ISO 2021 – All rights reserved 1
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ISO 17215-3:2021(E)
3.3
global shutter
exposure that exposes all pixels at the same time
3.4
histogram

type of chart that acts as a graphical representation of the tonal distribution in a digital image

3.5
intrinsic camera parameter

parameter that denotes the coordinate system transformations from 3D camera (m) to 2D pixel

coordinates (pixel)
4 Symbols and abbreviated terms
Abbreviated Symbol Full term
term
API Application Programming Interface
AEC Automatic Exposure Control
AGC Automatic Gain Control
DAS Driver Assistance System
ECU Electronic Control Unit
HDR High Dynamic Range
HMI Human Machine Interface
ID Identifier
ISO International Organization for Standardization
LDR Low Dynamic Range
LSB Least significant bit
MAC Media Access Control
OSI Open Systems Interconnection
PSE Persistent storage entry
ROI ρ Region of Interest, i.e. sub-part of overall image
RPC Remote Procedure Call
5 Conventions

This document is based on the conventions as specified in the OSI service conventions ISO/IEC 10731 as

they apply for physical layer, protocol, network, and transport protocol and diagnostic services.

2 © ISO 2021 – All rights reserved
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ISO 17215-3:2021(E)
6 Overview of ISO 17215 series
6.1 General

This document has been established to implement a standardized video communication interface for

cameras on a communication data link.
The focus of this document is to use existing protocols.
— Figure 1 specifies the relation to the other parts of this document.
— Figure 2 specifies the relation of this document to existing protocols.
Figure 1 — Overview of the ISO 17215 series
6.2 Document overview and structure

The ISO 17215 series consists of a set of four parts, which provide all references and requirements to

support the implementation of a standardized video communication interface for cameras according to

the document at hand.

— ISO 17215-1 provides an overview of the document set and structure along with use case definitions

and a common set of resources (definitions, references) for use by all subsequent parts.

— ISO 17215-2 specifies the discovery and control of services provided by a VCIC camera.

— This document specifies the standardized camera messages and data types used by a VCIC camera

(OSI layer 7).

— ISO 17215-4 specifies standardized low-level communication requirements for implementation of

the physical layer, data link layer, network layer, and transport layer (OSI layers 1 to 4).

© ISO 2021 – All rights reserved 3
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ISO 17215-3:2021(E)
6.3 Open Systems Interconnection (OSI) model

This document is based on the Open Systems Interconnection (OSI) basic reference model as specified

in ISO/IEC 7498 which structures communication systems into seven layers.

All parts of the ISO 17215 series are guided by the OSI service conventions as specified in ISO/IEC 10731

to the extent that they are applicable to diagnostic services. These conventions define the interaction

between the service user and the service provider through service primitives.

The aim of this subclause is to give an overview of the OSI model and show how it has been used as a

guideline for this document. It also shows how the OSI service conventions have been applied to this

document.

The OSI model structures data communication into seven layers called (from top to bottom) the

application layer (layer 7), presentation layer, session layer, transport layer, network layer, data link

layer, and physical layer (layer 1). A subset of these layers is used in this document.

The purpose of each layer is to provide services to the layer above. The active parts of each layer,

implemented in software, hardware, or any combination of software and hardware, are called e

...

INTERNATIONAL ISO
STANDARD 17215-3
Second edition
Road vehicles — Video communication
interface for cameras (VCIC) —
Part 3:
Camera message dictionary
Véhicules routiers — Interface de communication vidéo pour caméras
(ICVC) —
Partie 3: Dictionnaire de message de caméra
PROOF/ÉPREUVE
Reference number
ISO 17215-3:2021(E)
ISO 2021
---------------------- Page: 1 ----------------------
ISO 17215-3:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021

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

be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting

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
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii PROOF/ÉPREUVE © ISO 2021 – All rights reserved
---------------------- Page: 2 ----------------------
ISO 17215-3:2021(E)
Contents Page

Foreword ..........................................................................................................................................................................................................................................v

Introduction ................................................................................................................................................................................................................................vi

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

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

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

4 Symbols and abbreviated terms ........................................................................................................................................................... 2

5 Conventions ............................................................................................................................................................................................................... 2

6 Overview of ISO 17215 series ................................................................................................................................................................. 2

6.1 General ........................................................................................................................................................................................................... 2

6.2 Document overview and structure ........................................................................................................................................ 3

6.3 Open Systems Interconnection (OSI) model ................................................................................................................. 3

6.4 Document reference according to OSI model ............................................................................................................... 4

7 Camera application interface (OSI layer 7) ............................................................................................................................... 6

7.1 Specific properties ............................................................................................................................................................................... 6

7.2 API principles ........................................................................................................................................................................................... 6

7.2.1 Image cropping and windowing ......................................................................................................................... 7

7.3 API data types .......................................................................................................................................................................................... 7

7.4 API Return codes ................................................................................................................................................................................... 7

7.5 API enumerations ................................................................................................................................................................................. 8

7.5.1 Enumeration eMethodID .......................................................................................................................................... 8

7.5.2 Enumeration eEventGroupType ......................................................................................................................... 9

7.5.3 Enumeration eCamErrorCodes ........................................................................................................................... 9

7.5.4 Enumeration eCameraMode ...............................................................................................................................10

7.5.5 Enumeration eControlIndex ...............................................................................................................................10

7.5.6 Enumeration eControlSupportedModes ..................................................................................................11

7.5.7 Enumeration eControlMode ...............................................................................................................................11

7.5.8 Enumeration ePersistentStorageID ..............................................................................................................12

7.6 API structures .......................................................................................................................................................................................12

7.6.1 Structure sPixelPosition .........................................................................................................................................12

7.6.2 Structure sPixelMap ...................................................................................................................................................13

7.6.3 Structure sRectangle .................. ......................................................................................................................... .......13

7.6.4 Structure sImageDimension ...............................................................................................................................14

7.6.5 Structure sImagerRegister ...................................................................................................................................14

7.6.6 Structure sImagerRegisterBlock .....................................................................................................................14

7.6.7 Structure sImagerCharacteristic .....................................................................................................................14

7.6.8 Structure sIntrinsicCamParam .........................................................................................................................15

7.6.9 Structure sExtrinsicCamParam ........................................................................................................................16

7.6.10 Structure sPersistentEntryList .........................................................................................................................17

7.6.11 Structure sPersistentStorageEntry ...............................................................................................................17

7.6.12 Structure sTimeStamp .............................................................................................................................................18

7.6.13 Structure sDatasheet .................................................................................................................................................18

7.6.14 Structure sRegionOfInterest ...............................................................................................................................18

7.6.15 Structure sVideoFormat .........................................................................................................................................20

7.6.16 Structure sHistogramFormat .............................................................................................................................21

7.6.17 Structure sHistogramContent ............................................................................................................................22

7.6.18 Structure sVideoContent ........................................................................................................................................22

7.6.19 Structure sControlMode .........................................................................................................................................23

7.6.20 Structure sUnsignedCtl ...........................................................................................................................................23

7.6.21 Structure sSignedCtl ..................................................................................................................................................23

7.6.22 Structure sCombinedCtl .........................................................................................................................................24

7.6.23 Structure sCamControl ............................................................................................................................................24

7.6.24 Structure sCamStatus ...............................................................................................................................................24

© ISO 2021 – All rights reserved PROOF/ÉPREUVE iii
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ISO 17215-3:2021(E)

7.6.25 Temperature .....................................................................................................................................................................25

7.7 API reference .........................................................................................................................................................................................28

7.7.1 getDataSheet (MethodID 0x0001) ................................................................................................................28

7.7.2 getCamStatus (MethodID 0002 ) .................................................................................................................28

7.7.3 setCamMode (MethodID 0003 )...................................................................................................................28

7.7.4 setCamExclusive (MethodID 0011 .............................................................................................................

16 29

7.7.5 eraseCamExclusive (MethodID 0019 ) ...................................................................................................29

7.7.6 setHostParameters (MethodID 0022 ) ...................................................................................................30

7.7.7 getHostParameters (MethodID 0024 )...................................................................................................30

7.7.8 eraseHostParameters (MethodID 0029 ) .............................................................................................31

7.7.9 setRegionOfInterest (MethodID 0101 ) .................................................................................................31

7.7.10 setRegionsOfInterest (MethodID 0102 ) ..............................................................................................32

7.7.11 getRegionOfInterest (MethodID 0103 ) ................................................................................................32

7.7.12 getRegionsOfInterest (MethodID 0104 ) ..............................................................................................32

7.7.13 eraseRegionOfInterest (MethodID 0109 )...........................................................................................33

7.7.14 setVideoFormat (MethodID 0111 ) ...........................................................................................................33

7.7.15 getVideoFormat (MethodID 0113 ) ..........................................................................................................34

7.7.16 eraseVideoFormat (MethodID 0119 ) .....................................................................................................34

7.7.17 setHistogramFormat (MethodID 0121 ) ...............................................................................................35

7.7.18 getHistogramFormat (MethodID 0123 ) ..............................................................................................35

7.7.19 eraseHistogramFormat (MethodID 0129 ) .........................................................................................36

7.7.20 SubscribeROIVideo (MethodID 0131 ) ..................................................................................................36

7.7.21 UnSubscribeROIVideo (MethodID 0132 ) ...........................................................................................37

7.7.22 SubscribeROIHistogram (MethodID 0x0133) .....................................................................................37

7.7.23 UnSubscribeROIHistogram (MethodID 0x0134) ..............................................................................37

7.7.24 setCamControl (MethodID 0201 ) ..............................................................................................................38

7.7.25 setCamControls (MethodID 0202 ) ...........................................................................................................38

7.7.26 getCamControl (MethodID 0203 ) .............................................................................................................38

7.7.27 getCamControls (MethodID 0204 ) ...........................................................................................................39

7.7.28 setCamRegister (MethodID 0301 ) ............................................................................................................39

7.7.29 setCamRegisters (MethodID 0302 ) .........................................................................................................40

7.7.30 getCamRegister (MethodID 0303 ) ...........................................................................................................40

7.7.31 getCamRegisters (MethodID 0304 ) .........................................................................................................41

7.7.32 setUsedRegisterSet (MethodID 0305 ) ..................................................................................................41

7.8 Programming model for SOME/IP ......................................................................................................................................42

7.8.1 General...................................................................................................................................................................................42

7.8.2 Startup behaviour ........................................................................................................................................................43

7.8.3 Service discovery ..........................................................................................................................................................43

7.8.4 Event group handling ................................................................................................................................................46

7.9 PDU examples for SOME/IP ......................................................................................................................................................47

7.9.1 Request and response sequence (SOME/IP) ........................................................................................47

Bibliography .............................................................................................................................................................................................................................49

iv PROOF/ÉPREUVE © ISO 2021 – All rights reserved
---------------------- Page: 4 ----------------------
ISO 17215-3:2021(E)
Foreword

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

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

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

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

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

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

electrotechnical standardization.

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

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

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

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

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

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

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

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

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

constitute an endorsement.

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

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

World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www .iso .org/

iso/ foreword .html.

This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 31,

Data communication.

This second edition cancels and replaces the first edition (ISO 17215-3:2014), which has been technically

revised.
The main changes compared to the previous edition are as follows:
— corrections of Formulae and scaling in 7.6.8;
— editorial adoptions and corrections.
A list of all parts in the ISO 17215 series can be found on the ISO website.

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

complete listing of these bodies can be found at www .iso .org/ members .html.
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ISO 17215-3:2021(E)
Introduction

Driver assistance systems are increasingly common in road vehicles. From the beginning, cameras were

part of this trend. Analogue cameras were used in the beginning because of the lower complexity of the

first systems. With increasing demand for more advanced functionality, digital image processing has

been introduced. So-called one box design cameras (combining a digital image sensor and a processing

unit) started being used in vehicles.

Currently, the market demands such systems with multiple functions. Even different viewing directions

are in use. It seems plausible that in the near future a single vehicle could have between 6 and 12

cameras. For this reason and others like limitations in size, power consumption, etc., designs have been

made where the cameras are separated from the processing unit. Therefore, a high-performance digital

interface between camera and processing unit is necessary.

This document has been established in order to define the use cases, the communication protocol, and

the physical layer requirements of a video communication interface for cameras, which covers the

needs of driver assistance applications.
The video communication interface for cameras:

— incorporates the needs of the whole life cycle of an automotive grade digital camera,

— utilizes existing standards to define a long-term stable state-of-the-art video communication

interface for cameras, usable for operating and diagnosis purposes,

— can be easily adapted to new physical data link layers including wired and wireless connections by

using existing adaption layers, and
— is compatible with AUTOSAR.

This document is related to the general information and use case definition. This is a general overview

document which is not related to the OSI model.

To achieve this, it is based on the Open Systems Interconnection (OSI) basic reference model specified

in ISO/IEC 7498-1 and ISO/IEC 10731, which structures communication systems into seven layers.

When mapped on this model, the protocol and physical layer requirements specified by this document,

in accordance with Table 1 are broken into following layers:
— application (layer 7), specified in this document (ISO 17215-3);
— presentation layer (layer 6), specified in ISO 17215-2;
— session layer (layer 5), specified in ISO 17215-2;
— transport protocol (layer 4), specified in ISO 17215-4, ISO 13400-2;
— network layer (layer 3), specified in ISO 17215-4, ISO 13400-2;
— data link layer (layer 2), specified in ISO 17215-4, ISO 13400-3;
— physical layer (layer 1), specified in ISO 17215-4, ISO 13400-3.
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ISO 17215-3:2021(E)
Table 1 — Specifications applicable to the OSI layers

Applicability OSI 7 layers Video communication interface for cameras Camera diagnostics

Seven layers Application (layer 7) ISO 17215-3
according to
Presentation (layer 6) ISO 17215-2
ISO 7498–1 and
Session (layer 5) ISO 17215-2
ISO/IEC 10731
Transport (layer 4) ISO 17215-4 Other future interface ISO 13400-2
standards
Network (layer 3)
Data link (layer 2) ISO 17215-4 ISO 13400-3
Physical (layer 1)

ISO 17215-1 has been established in order to define the use cases for vehicle communication systems

implemented on a video communication interface for cameras; it is an overall document not related to

the OSI model.

ISO 17215-2 covers the presentation layer implementation of the video communication interface for

cameras.

This document, ISO 17215-3, covers the application layer implementation of the video communication

interface for cameras; it includes the API.

ISO 17215-4 is the common standard for the OSI layers 1 to 4 for video communication interface for

cameras. It complements ISO 13400 2 and ISO 13400 3 and adds the requirement for video transmission

over Ethernet.

ISO 17215-2 and ISO 17215-3 (OSI layer 5 to 7) services have been defined to be independent of the

ISO 17215-4 (OSI layer 1 to 4) implementation. Therefore, ISO 17215-4 could be replaced by another

future communication document.
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INTERNATIONAL STANDARD ISO 17215-3:2021(E)
Road vehicles — Video communication interface for
cameras (VCIC) —
Part 3:
Camera message dictionary
1 Scope

This document specifies the standardized camera messages and data types used by a VCIC camera (OSI

layer 7).

Applications hosted on ECUs want to communicate with one or more cameras (e.g. “Ask camera for

parameters.”). If the applications can use standardized services supported by the cameras (API layer

7), the development of a vision application is independent on the camera used. The services can be

implemented by general libraries.
The definition of streaming data is not an issue of this API.
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 17215-1, Road vehicles — Video communication interface for cameras (VCIC) — Part 1: General

information and use case definition

ISO 17215-2, Road vehicles — Video communication interface for cameras (VCIC) — Part 2: Service

discovery and control

ISO 17215-4, Road vehicles — Video communication interface for cameras (VCIC) — Part 4: Implementation

of communication requirements
3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO 17215-1 and the following apply.

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

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

parameter that denotes the coordinate system transformations from 3D world (vehicle) coordinates

(m,°) to 3D-camera coordinates (m,°)
3.2
frame rate
update rate per time of camera images
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ISO 17215-3:2021(E)
3.3
global shutter
exposure that exposes all pixels at the same time
3.4
histogram

type of chart that acts as a graphical representation of the tonal distribution in a digital image

3.5
intrinsic camera parameter

parameter that denotes the coordinate system transformations from 3D camera (m) to 2D pixel

coordinates (pixel)
4 Symbols and abbreviated terms
API Application Programming Interface
AEC Automatic Exposure Control
AGC Automatic Gain Control
DAS Driver Assistance System
ECU Electronic Control Unit
HDR High Dynamic Range
HMI Human Machine Interface
ID Identifier
ISO International Organization for Standardization
LDR Low Dynamic Range
LSB Least significant bit
MAC Media Access Control
OSI Open Systems Interconnection
PSE Persistent storage entry
ROI ρ Region of Interest, i.e. sub-part of overall image
RPC Remote Procedure Call
5 Conventions

This document is based on the conventions as specified in the OSI service conventions ISO/IEC°10731

as they apply for physical layer, protocol, network, and transport protocol and diagnostic services.

6 Overview of ISO 17215 series
6.1 General

This document has been established to implement a standardized video communication interface for

cameras on a communication data link.
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ISO 17215-3:2021(E)
The focus of this document is to use existing protocols.
— Figure 1 specifies the relation to the other parts of this document.
— Figure 2 specifies the relation of this document to existing protocols.
Figure 1 — Overview of the ISO 17215 series
6.2 Document overview and structure

The ISO 17215 series consists of a set of four parts, which provide all references and requirements to

support the implementation of a standardized video communication interface for cameras according to

the document at hand.

— ISO 17215-1 provides an overview of the document set and structure along with use case definitions

and a common set of resources (definitions, references) for use by all subsequent parts.

— ISO 17215-2 specifies the discovery and control of services provided by a VCIC camera.

— This document specifies the standardized camera messages and data types used by a VCIC camera

(OSI layer 7).

— ISO 17215-4 specifies standardized low-level communication requirements for implementation of

the physical layer, data link layer, network layer, and transport layer (OSI layers 1 to 4).

6.3 Open Systems Interconnection (OSI) model

This document is based on the Open Systems Interconnection (OSI) basic reference model as specified

in ISO/IEC 7498 which structures communication systems into seven layers.

All parts of the ISO 17215 series are guided by the OSI service conventions as specified in ISO/IEC 10731

to the extent that they are applicable to diagnostic services. These conventions define the interaction

between the service user and the service provider through service primitives.
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ISO 17215-3:2021(E)

The aim of this subclause is to give an overview of the OSI model and show how it has been used as a

guideline for this document. It also shows how the OSI service conventions have been applied to this

document.

The OSI model structures data communication into seven layers called (from top to bottom) the

application layer (layer 7), presentation layer, session layer, transport layer, network layer, data link

layer, and physical layer (layer 1). A subset of these layers is used in this document.

The purpose of each layer is to provide services to the layer above. The active parts of each layer,

...

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