ISO 23150:2023

Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface

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 — Communication de données entre capteurs et unité de fusion de données pour les fonctions de conduite automatisée — Interface logique

General Information

• Status: Published
• Publication Date: 30-May-2023
• 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 - Data communication
• Current Stage: 9093 - International Standard confirmed
• Due Date: 28-Oct-2024
• Completion Date: 28-Oct-2024

Relations

• Revises: ISO 23150:2021 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
• Effective Date: 06-Jun-2022

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 23150
Second edition
2023-05
Road vehicles — Data communication
between sensors and data fusion unit
for automated driving functions —
Logical interface
Véhicules routiers — Communication de données entre capteurs et
unité de fusion de données pour les fonctions de conduite automatisée
— Interface logique
Reference number
© ISO 2023
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
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or ISO’s member body in the country of the requester.
ISO copyright office
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Website: www.iso.org
Published in Switzerland
ii
Contents Page
Foreword . vi
Introduction . viii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
3.1 Architectural components . 1
3.2 Terms for logical interface layers . 2
3.3 Structure terms . 3
3.4 Measurement terms . 3
3.5 Requirement level terms . 6
3.6 Road user relevant entity types . 7
3.7 Axis and coordinate system terms . 9
4 Abbreviated terms . 15
5 Structure of the interface description . 16
5.1 General . 16
5.2 Signal . 17
5.3 Interface . 17
5.4 Specific signal grouping. 18
5.5 Profile . 19
6 Logical interface from a sensor as well as a sensor cluster to a fusion unit . 19
6.1 General . 19
6.2 Generic interface header . 22
6.3 Generic interface entity . 22
6.4 Profile: Uniqueness of interface versioning . 23
7 Object level . 23
7.1 General . 23
7.2 Generic object level interface . 24
7.2.1 Generic object level header . 24
7.2.2 Generic object level entity . 25
7.3 Potentially moving object interface . 25
7.3.1 Potentially moving object header . 34
7.3.2 Potentially moving object entity . 35
7.3.3 Profile: Motion type . 36
7.3.4 Profile: Motion state vector . 37
7.4 Road object interface . 38
7.4.1 Road object header . 49
7.4.2 Road object entity . 51
7.4.3 Profile: Colour model for RDOI . 53
7.5 Static object interface . 53
7.5.1 Static object header . 81
7.5.2 Static object entity . 83
7.5.3 Profile: Colour model for SOI . 91
7.5.4 Profile: Detection references for 3D detections . 91
7.6 Free space area object interface . 94
7.6.1 Free space area object header . 99
7.6.2 Free space area object entity . 100
8 Feature level . 101
8.1 General . 101
8.2 Generic sensor cluster feature interface . 102
8.2.1 Generic sensor cluster feature header . 102
8.2.2 Generic sensor cluster feature entity . 103
8.3 Camera feature interface . 103
8.3.1 Camera feature header . 107
8.3.2 Camera feature entity . 108
8.3.3 Profile: Colour model for CFI . 109
8.4 Ultrasonic feature interface . 110
8.4.1 Ultrasonic feature header . 113
8.4.2 Ultrasonic feature entity . 114
9 Detection level . 114
9.1 General . 114
9.2 Generic sensor detection interface . 115
9.2.1 Generic sensor detections header . 115
9.2.2 Generic sensor detections entity . 116
9.3 Radar detection interface . 117
9.3.1 Radar detections header . 119
9.3.2 Radar detections entity . 121
9.3.3 Profile: Radar ambiguity . 121
9.4 Lidar detection interface . 121
9.4.1 Lidar detection header . 124
9.4.2 Lidar detection entity . 125
9.5 Camera detection interface . 125
9.5.1 Camera detection header . 130
9.5.2 Camera detection entity . 131
9.5.3 Profile: Colour model for CDI . 132
9.6 Ultrasonic detection interface . 132
9.6.1 Ultrasonic detection header . 135
9.6.2 Ultrasonic detection entity . 136
9.6.3 Profile: Ultrasonic sensor cluster . 137
10 Supportive sensor interfaces . 139
10.1 General . 139
10.2 Generic supportive sensor interface . 140
10.2.1 Generic supportive sensor header . 140
10.2.2 Generic supportive sensor entity . 141
10.3 Sensor performance interface . 141
10.3.1 Sensor performance header . 145
10.3.2 Sensor performance entity . 147
10.3.3 Profile: Uniqueness of interface versioning of SPIs . 147
10.4 Sensor health information interface .
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