ISO/FDIS 23150
(Main)Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
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
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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
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BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/FDIS 23150:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
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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
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or ISO’s member body in the country of the requester.RECIPIENTS OF THIS DRAFT ARE INVITED TO
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DOCUMENTATION.
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Reference number
Email: copyright@iso.org
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO
ISO/FDIS 23150:2023(E)
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LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
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OCCASION HAVE TO BE CONSIDERED IN THE
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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
© ISO 2023 – All rights reserved iii---------------------- Page: 3 ----------------------
ISO/FDIS 23150:2023(E)
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 2023 – All rights reserved v---------------------- Page: 5 ----------------------
ISO/FDIS 23150:2023(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 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
sensor supplier and the system supplier.AD function 2 AD function 3
AD function 1
Surround model:
Fused information
Fusion unit
Objects
Objects Objects Objects
Features
2 Features
Detections
Detections Detections
Detections
Supportive information
Supportive information Supportive info.
Supportive information
Radar Lidar Camera Ultrasonic
processing
processing processing processing
Interface Interface Interface Interface
Raw data: Raw data:
Raw data: Raw data:
Frames
Re�lecti ons Re�lecti ons Re�lecti ons
Interface
Interface Interface Interface
measuring measuring measuring measuring
Key
1 logical interface layer between the fusion unit and AD functions
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 functionsviii © 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 clusterFigure 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
performed3.1.3
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 characteristicsNote 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.
3.1.5sensor
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.
3.1.7surround 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
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
copyright@iso.org
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 ...................................................................................... 23
7 Object level .................................................................................................................................................... 24
7.1 General ........................................................................................................................................................... 24
7.2 Generic object level interface ................................................................................................................. 24
7.2.1 Generic object level header .................................................................................................................... 25
7.2.2 Generic object level entity ....................................................................................................................... 25
7.3 Potentially moving object interface ..................................................................................................... 26
7.3.1 Potentially moving object header ......................................................................................................... 35
7.3.2 Potentially moving object entity ........................................................................................................... 36
7.3.3 Profile: Motion type ................................................................................................................................... 37
7.3.4 Profile: Motion state vector .................................................................................................................... 38
7.4 Road object interface ................................................................................................................................ 39
7.4.1 Road object header .................................................................................................................................... 50
7.4.2 Road object entity ....................................................................................................................................... 52
7.4.3 Profile: Colour model for RDOI .............................................................................................................. 55
7.5 Static object interface................................................................................................................................ 55
7.5.1 Static object header ................................................................................................................................... 84
7.5.2 Static object entity ...................................................................................................................................... 86
7.5.3 Profile: Colour model for SOI .................................................................................................................. 94
7.5.4 Profile: Detection references for 3D detections .............................................................................. 94
7.6 Free space area object interface ........................................................................................................... 97
7.6.1 Free space area object header ............................................................................................................ 103
7.6.2 Free space area object entity ............................................................................................................... 104
© ISO 20212023 – All rights reserved iii---------------------- Page: 3 ----------------------
ISO/FDIS 23150:20222023(E)
8 Feature level .............................................................................................................................................. 105
8.1 General ......................................................................................................................................................... 105
8.2 Generic sensor cluster feature interface ......................................................................................... 106
8.2.1 Generic sensor cluster feature header ............................................................................................. 106
8.2.2 Generic sensor cluster feature entity ............................................................................................... 107
8.3 Camera feature interface ....................................................................................................................... 107
8.3.1 Camera feature header .......................................................................................................................... 111
8.3.2 Camera feature entity ............................................................................................................................. 112
8.3.3 Profile: Colour model for CFI ............................................................................................................... 113
8.4 Ultrasonic feature interface ................................................................................................................. 114
8.4.1 Ultrasonic feature header ..................................................................................................................... 117
8.4.2 Ultrasonic feature entity ....................................................................................................................... 118
9 Detection level........................................................................................................................................... 118
9.1 General ......................................................................................................................................................... 118
9.2 Generic sensor detection interface .................................................................................................... 119
9.2.1 Generic sensor detections header...................................................................................................... 119
9.2.2 Generic sensor detections entity ........................................................................................................ 120
9.3 Radar detection interface ..................................................................................................................... 121
9.3.1 Radar detections header ....................................................................................................................... 123
9.3.2 Radar detections entity .......................................................................................................................... 125
9.3.3 Profile: Radar ambiguity ....................................................................................................................... 125
9.4 Lidar detection interface ....................................................................................................................... 125
9.4.1 Lidar detection header ........................................................................................................................... 128
9.4.2 Lidar detection entity ............................................................................................................................. 129
9.5 Camera detection interface .................................................................................................................. 130
9.5.1 Camera detection header ...................................................................................................................... 134
9.5.2 Camera detection entity ........................................................................................................................ 135
9.5.3 Profile: Colour model for CDI ............................................................................................................... 136
9.6 Ultrasonic detection interface ............................................................................................................. 136
9.6.1 Ultrasonic detection header ................................................................................................................. 139
9.6.2 Ultrasonic detection entity ................................................................................................................... 140
9.6.3 Profile: Ultrasonic sensor cluster ....................................................................................................... 142
10 Supportive sensor interfaces ............................................................................................................... 144
10.1 General ......................................................................................................................................................... 144
10.2 Generic supportive sensor interface ................................................................................................. 145
10.2.1 Generic supportive sensor header ..................................................................................................... 145
10.2.2 Generic supportive sensor entity ....................................................................................................... 146
10.3 Sensor performance interface ............................................................................................................. 146
10.3.1 Sensor performance header ................................................................................................................. 150
10.3.2 Sensor performance entity ................................................................................................................... 151
10.3.3 Profile: Uniqueness of interface versioning of SPIs ..................................................................... 152
10.4 Sensor health information interface ................................................................................................. 152
10.4.1 Sensor health information header ..................................................................................................... 155
10.4.2 Sensor health information entity ....................................................................................................... 156
11 Sensor input interface ............................................................................................................................ 156
11.1 General ......................................................................................................................................................... 156
11.2 Generic sensor input interface ............................................................................................................ 156
11.2.1 Generic sensor inputs header .............................................................................................................. 156
11.2.2 Generic sensor inputs entity ................................................................................................................ 157
11.2.3 Profile: Uniqueness of interface versioning of SII ........................................................................ 157
11.3 Common sensor input interface ......................................................................................................... 157
11.3.1 Common sensor input header ............................................................................................................. 160
11.3.2 Common sensor input entity ................................................................................................................ 161
iv © ISO 20212023 – All rights reserved---------------------- Page: 4 ----------------------
ISO/FDIS 23150:20222023(E)
Annex A (normative) Interface signals ........................................................................................................... 162
Annex B (normative) Options and constraints............................................................................................. 339
Bibliography .............................................................................................................................................................. 357
© ISO 20212023 – All rights reserved v---------------------- Page: 5 ----------------------
ISO/FDIS 23150:20222023(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 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 20212023 – All rights reserved
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ISO/FDIS 23150:20222023(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 20212023 – All rights reserved vii
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ISO/FDIS 23150:20222023(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
sensor supplier and the system supplier.AD function 2 AD function 3
AD function 1
Surround model:
Fused information
Fusion unit
Objects Objects Objects
Objects
Features
2 Features
Detections
Detections Detections Detections
Supportive information
Supportive information Supportive information Supportive info.
Radar Lidar Camera Ultrasonic
processing
processing processing processing
Interface Interface Interface Interface
Raw data: Raw data: Raw data: Raw data:
Frames Re�lecti ons
Re�lecti ons Re�lecti ons
Interface Interface Interface Interface
measuring measuring measuring measuring
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ISO/FDIS 23150:20222023(E)
AD function 1 AD function 2 AD function 3
Surround model:
Fused information
Fusion unit
Objects
Objects Objects Objects
Features
2 Features
Detections
Detections Detections Detections
Supportive information
Supportive information Supportive information Supportive info.
Lidar
Radar Camera Ultrasonic
processing processing processing processing
Interface Interface
Interface Interface
Raw data:
Raw data: Raw data: Raw data:
Re�lecti ons Re�lecti ons Frames Re�lecti ons
Interface Interface Interface Interface
measuring measuring measuring measuring
Key
1 logical interface layer between the fusion unit and AD functions
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 functionsThe logical interface layer between a single sensor as well as a single sensor cluster and the fusion unit
[(see Figure 1, key 2 in ]) 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
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ISO/FDIS 23150:20222023(E)
ECU 1 ECU 2 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 clusterFigure 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 in ]) addresses the input of a single sensor as well as a single sensor
cluster.x © ISO 20212023 – All rights reserved
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FINAL DRAFT INTERNATIONAL STANDARD ISO/FDIS 23150:20222023(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
performed3.1.3
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.]
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ISO/FDIS 23150:20222023(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 characteristicsNote 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.
3.1.5sensor
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.
3.1.7surround 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 sensor (3.1.5)Note 1 to entry: A small amount of history can be used for some detection signals (3.3.1), for example, model-
free filtering may be used in track-before-detect algorithms.3.2.2
detection level
set of logical interfaces (3.1.4) that provides detections (3.2.1)
3.2.3
feature
sensor technology specific entity represented in the vehicle coordinate system (3.7.16) based on
multiple measurements (3.4.5)2 © ISO 20212023 – All rights reserved
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ISO/FDIS 23150:20222023(E)
Note 1 to entry: Multiple measurements can originate from a sensor cluster (3.1.6).
Note 2 to entry: Multiple measurements can originate from multiple measurement cycles (3.4.1).
Note 3 to entry: The term feat...
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