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

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 - Data communication

Current Stage

5020 - FDIS ballot initiated: 2 months. Proof sent to secretariat

Start Date

01-Mar-2023

Completion Date

01-Mar-2023

Ref Project

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

Buy Standard

ISO/FDIS 23150 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
Released:2/15/2023

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ISO/FDIS 23150 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface Released:2/15/2023

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345 pages

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REDLINE ISO/FDIS 23150 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
Released:2/15/2023

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REDLINE ISO/FDIS 23150 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface Released:2/15/2023

English language

345 pages

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Standards Content (Sample)

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

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: +41 22 749 01 11
IN ADDITION TO THEIR EVALUATION AS
Reference number
Email: copyright@iso.org
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
© 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 ................................................................................................. 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 ................................................................................................. 147

10.4.1 Sensor health information header ..................................................................................................... 150

10.4.2 Sensor health information entity ....................................................................................................... 151

11 Sensor input interface ............................................................................................................................ 151

11.1 General ......................................................................................................................................................... 151

11.2 Generic sensor input interface ............................................................................................................ 151

11.2.1 Generic sensor inputs header .............................................................................................................. 151

11.2.2 Generic sensor inputs entity ................................................................................................................ 152

11.2.3 Profile: Uniqueness of interface versioning of SII ........................................................................ 152

11.3 Common sensor input interface ......................................................................................................... 152

11.3.1 Common sensor input header ............................................................................................................. 156

11.3.2 Common sensor input entity ................................................................................................................ 156

iv © ISO 2023 – All rights reserved
---------------------- Page: 4 ----------------------
ISO/FDIS 23150:2023(E)

Annex A (normative) Interface signals ........................................................................................................... 158

Annex B (normative) Options and constraints............................................................................................. 329

Bibliography .............................................................................................................................................................. 345

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 23150:2021), which has been technically

revised.
The main changes are as follows:

— extension of the potentially moving object interface at object level (extension of the logical

signal group person);

— update of the road object interface at object level (extension of the road marking sign);

— extension of the static object interface at object level (extension of the entity type traffic sign;

addition of new entity type traffic sign board);
— addition of new free space area interface at object level;

— extension of the camera detection interface at detection level (addition of new entity type point;

update of existing entity type shape);

— addition of new interface level – sensor input interface (addition of new generic sensor input

interface; addition of new common sensor input interface);
vi © ISO 2023 – All rights reserved
---------------------- Page: 6 ----------------------
ISO/FDIS 23150:2023(E)

— extension of the error model (addition of covariances, cross-covariances and time series as

error model implementation);

— refinement of the terms, for example, value as measured-, tracked- and predicted quantity

value;

— new measures to link signals with their origin, that means linking signals at object level with, for

example, detection entities;
— harmonisation of the document, for example, to achieve a better readability;
— update and add figures for clarification.

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 2023 – All rights reserved vii
---------------------- Page: 7 ----------------------
ISO/FDIS 23150:2023(E)
Introduction

(Highly-)automated driving (AD) functions for road vehicles require a situation awareness of the

surroundings of the vehicle and, preferably, a comprehensive scene understanding. For the fast and

reliable recognition of real-world objects, a sensor suite is necessary to provide information for the

fusion unit. Utilisation of different sensor technologies like radar, lidar, camera and ultrasonic with

different detection capabilities is indispensable to ensure both complementary and redundant

information. The fusion unit analyses and evaluates the different sensor signals and finally generates a

dynamic surround model with sufficient scene understanding.

While current partly-automated functions utilise only particular objects (for example, vehicles,

pedestrians, road markings) to generate a simple surround model, it is necessary for future highly-

automated driving functions to merge not only the recognised objects but also to include other sensor-

specific properties and characteristics of these objects for the generation of a coherent surround model

of the surroundings. To minimise the development efforts for the sensors and the fusion unit and to

maximise the reusability of development and validation efforts for the different functions on the sensor

and fusion unit side, a standardised logical interface layer between the sensor suite and the fusion unit

and a standardised logical interface layer to the sensor suite are worthwhile and beneficial for both the

2 logical interface layer between a single sensor as well as a single sensor cluster and the fusion unit

3 interface layer on raw data level of a sensor’s sensing element(s) and its processing

Figure 1 — Architecture: sensors/sensor clusters – fusion unit – AD functions
viii © ISO 2023 – All rights reserved
---------------------- Page: 8 ----------------------
ISO/FDIS 23150:2023(E)

The logical interface layer between a single sensor as well as a single sensor cluster and the fusion unit

(see Figure 1, key 2) addresses the encapsulation of technical complexity as well as objects including

free space areas, features and detections to enable object-level, feature-level and detection-level fusion.

Additional supportive information of the sensor as well as the sensor cluster will supplement the data

for the fusion unit.
ECU 2
ECU 1 ECU 3
1 Input Input Input Input
Key

1 logical interface layer between other in-vehicle electronic control units (ECUs) (for example, odometry) and a single

sensor or a single sensor cluster
Figure 2 — Architecture: ECUs’ sensor input – sensors/sensor clusters

The logical interface layer between an electronic control unit and a single sensor as well as a single

sensor cluster (see Figure 2, key 1) addresses the input of a single sensor as well as a single sensor

cluster.
© ISO 2023 – All rights reserved ix
---------------------- Page: 9 ----------------------
FINAL DRAFT INTERNATIONAL STANDARD ISO/FDIS 23150:2023(E)
Road vehicles — Data communication between sensors
and data fusion unit for automated driving functions —
Logical interface
1 Scope

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.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions 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 http://www.electropedia.org/
3.1 Architectural components
3.1.1
fusion

act of uniting signals (3.3.1) from two or more sensors (3.1.5) as well as sensor clusters (3.1.6) to create a

surround model (3.1.7)
3.1.2
fusion unit

computing unit where the fusion (3.1.1) of sensor (3.1.5) data as well as a sensor cluster (3.1.6) data is

performed
3.1.3
interface

shared boundary between two functional units, defined by various characteristics pertaining to the

functions, physical interconnections, signal (3.3.1) exchanges and other characteristics of the units, as

appropriate

[SOURCE: ISO/IEC 2382:2015, 2124351, modified — Notes to entry have been removed.]

© ISO 2023 – All rights reserved 1
---------------------- Page: 10 ----------------------
ISO/FDIS 23150:2023(E)
3.1.4
logical interface

interface (3.1.3) between a sensor (3.1.5) as well as a sensor cluster (3.1.6) and the fusion unit (3.1.2),

defined by logical characteristics
Note 1 to entry: Logical means a semantic description of the interface.
Note 2 to entry: Mechanical and electrical interfaces are excluded.

Note 3 to entry: This document uses the term interface as a shortcut for the term logical interfaces.

3.1.5
sensor

in-vehicle unit which detects entities external of the vehicle with pre-processing capabilities serving at

least one logical interface (3.1.4)
Note 1 to entry: A sensor may use one or more sensing elements.
3.1.6
sensor cluster

group of sensors (3.1.5) of the same technology serving common logical interfaces (3.1.4)

Note 1 to entry: A sensor cluster can exceptionally consist of only one sensor.

EXAMPLE A stereo camera, a surround-view camera, an ultrasonic sensor array, a corner radar system.

3.1.7
surround model
representation of the real world adjacent to the ego-vehicle
3.1.8
in-vehicle communication

communication network used in vehicles to connect devices to exchange information

Note 1 to entry: A in-vehicle communication connects, for example, electric control units and sensors (3.1.5)

with each other.
3.2 Terms for logical interface layers
3.2.1
detection

sensor technology specific entity represented in the sensor coordinate system (3.7.18) based on a single

measurement (3.4.5) of a
...

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

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
copyright@iso.org
www.iso.org
ii © ISO 20212023 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/FDIS 23150:20222023(E)
Contents Page