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: 9092 - International Standard to be revised
• Completion Date: 09-Oct-2023

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 23150:2023(E)
© ISO 2023

---------------------- Page: 1 ----------------------
ISO 23150:2023(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii
  © ISO 2023 – All rights reserved

---------------------- Page: 2 ----------------------
ISO 23150:2023(E)
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 .
...

FINAL
INTERNATIONAL ISO/FDIS
DRAFT
STANDARD 23150
ISO/TC 22/SC 31
Road vehicles — Data communication
Secretariat: DIN
between sensors and data fusion unit
Voting begins on:
2023-03-01 for automated driving functions —
Logical interface
Voting terminates on:
2023-04-26
Véhicules routiers — Communication de données entre capteurs et
unité de fusion de données pour les fonctions de conduite automatisée
— Interface logique
RECIPIENTS OF THIS DRAFT ARE INVITED TO
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/FDIS 23150:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2023

---------------------- Page: 1 ----------------------
ISO/FDIS 23150:2023(E)
FINAL
INTERNATIONAL ISO/FDIS
DRAFT
STANDARD 23150
ISO/TC 22/SC 31
Road vehicles — Data communication
Secretariat: DIN
between sensors and data fusion unit
Voting begins on:
for automated driving functions —
Logical interface
Voting terminates on:
Véhicules routiers — Communication de données entre capteurs et
unité de fusion de données pour les fonctions de conduite automatisée
— Interface logique
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
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.
RECIPIENTS OF THIS DRAFT ARE INVITED TO
ISO copyright office
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
CP 401 • Ch. de Blandonnet 8
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
CH-1214 Vernier, Geneva
DOCUMENTATION.
Phone: [phone]
IN ADDITION TO THEIR EVALUATION AS
Reference number
Email: [e-mail]
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO­
ISO/FDIS 23150:2023(E)
Website: www.iso.org
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
Published in Switzerland
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN­
DARDS TO WHICH REFERENCE MAY BE MADE IN
ii
  © ISO 2023 – All rights reserved
NATIONAL REGULATIONS. © ISO 2023

---------------------- Page: 2 ----------------------
ISO/FDIS 23150:2023(E)
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 .
...

ISO/TC 22/SC 31
Date: 2022-11-222023-02
ISO/FDIS 23150:20222023
ISO/TC 22/SC 31/WG 9
Secretariat: DIN
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

---------------------- Page: 1 ----------------------
ISO/FDIS 23150:20222023(E)
COPYRIGHT PROTECTED DOCUMENT
All rights reserved. Unless otherwise specified, 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
Ch. de Blandonnet 8 • CP 401
Tel. + 41 22 749 01 11
CH-1214 Vernier, Geneva, Switzerland

Fax + 41 22 749 09 47
[e-mail]
www.iso.org
ii © ISO 20212023 – All rights reserved

---------------------- Page: 2 ----------------------
ISO/FDIS 23150:20222023(E)
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 . 23
6.4 Profile: Uniqueness of interface versioning .
...