ISO 23150-13:2026

• Abstract:

  This document is applicable to road vehicles with automated driving functions and specifies the technology-specific logical interfaces for camera sensors or sensor clusters, such as: feature-level interface; advanced detection-level interface; detection-level interface. This document does not provide electrical and mechanical interface specifications. Raw data interfaces are also excluded.

• Status: Published
• Publication Date: 28-Jun-2026
• 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/WG 9 - Sensor data interface for automated driving functions
• Current Stage: 6060 - International Standard published
• Start Date: 29-Jun-2026
• Due Date: 09-Oct-2026
• Completion Date: 29-Jun-2026

• Revises: ISO 23150:2023 - Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
• Effective Date: 28-Oct-2023

Overview

ISO 23150-13:2026 is an international standard developed by ISO, part of the broader ISO 23150 series for road vehicles. It focuses on the logical interface between camera sensors and data fusion units in vehicles equipped with automated driving functions. This standard specifies the technology-specific logical interfaces necessary for camera sensors and sensor clusters, streamlining their communication with data fusion units. Notably, ISO 23150-13:2026 defines interfaces such as feature-level, advanced detection-level, and detection-level interfaces, while excluding electrical, mechanical, and raw data interface specifications.

Key Topics

• Technology-Specific Interfaces for Cameras
  The standard details logical interfaces tailored for camera sensors and sensor clusters, ensuring compatibility and efficient integration within automated driving architecture.

• Interface Levels
  ISO 23150-13 addresses distinct levels of data abstraction-feature-level, advanced detection-level, and detection-level-enabling standardized semantic communication between sensors and the vehicle’s data fusion unit.

• Modular and Semantic Representation
  By adopting a modular approach, the interfaces can be adapted to varied functions and sensor capabilities, supporting flexibility in automated driving system designs.

• Interoperability
  Reliance on generic specifications defined in ISO 23150-1 facilitates seamless interoperability with other parts of the ISO 23150 series, aligning camera interfaces with those for other sensor types.

• Focus on Logical Structure
  This part outlines the structure and grouping of signals, enabling precise mapping of camera-derived features, detections, and advanced detections for automated driving applications.

Applications

ISO 23150-13:2026 is highly relevant in the context of advanced driver-assistance systems (ADAS) and automated driving systems (ADS) where multiple sensor modalities, including cameras, contribute to environmental perception. Key applications include:

• Automotive Sensor Integration
  The standard enables manufacturers to implement robust, standardized logical interfaces for camera sensors, making it easier to integrate new camera technologies and sensor clusters into current and next-generation vehicles.

• Data Fusion for Automated Driving
  With defined interfaces, data from cameras is efficiently conveyed in a common structure, supporting the data fusion unit in generating accurate surround models and scene interpretations essential for automated driving decisions.

• Enhanced Perception Algorithm Development
  The consistent interface levels lay the foundation for developing advanced perception algorithms that rely on semantic and feature-rich data from camera sensors, facilitating functions such as lane recognition, object detection, and sign identification.

• System Modularity and Scalability
  Standardized logical interfaces allow automotive system suppliers to design modular architectures that can scale from basic driver assistance to fully automated driving, reducing development time and cost.

Related Standards

ISO 23150-13:2026 is part of the ISO 23150 series and works in tandem with several other key standards:

• ISO 23150-1:2026 - Road vehicles - Logical interface between sensors and data fusion unit for automated driving functions - Part 1: General information and principles
• ISO 23150-2 – Defines object-level interfaces for environmental perception
• ISO 23150-11 / -12 / -14 / -15 / -20 – These address interfaces for other sensor technologies or additional functionalities, supporting data communication consistency across sensor types

Practical Value

Adoption of ISO 23150-13:2026 ensures:

• Interoperable and Scalable Automated Driving Systems
• Faster Integration of Camera Technologies
• Consistent Data Exchange for Environmental Perception
• Streamlined Development and Compliance with Industry Standards

By providing standardized logical interfaces for camera sensors, this standard supports the safe, reliable, and efficient deployment of automated driving functions in modern road vehicles.

International
Standard
ISO 23150-13
First edition
Road vehicles — Logical interface
2026-06
between sensors and data fusion
unit for automated driving
functions —
Part 13:
Camera specific interfaces
Véhicules routiers — Interface logique entre capteurs et unité de
fusion de données pour les fonctions de conduite automatisée —
Partie 13: Interfaces spécifiques de caméra
Reference number
© ISO 2026
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 2
5 Feature level . 3
5.1 Camera feature interface .3
5.2 Camera feature header .8
5.3 Camera feature entity .9
5.4 Camera feature profiles .11
6 Advanced detection level .11
6.1 Camera advanced detection interface .11
6.2 Camera advanced detection header .16
6.3 Camera advanced detection entity .17
6.4 Camera advanced detection profiles .18
7 Detection level .18
7.1 Camera detection interface .18
7.2 Camera detection header .24
7.3 Camera detection entity . 25
7.4 Camera detection profiles . 26
Annex A (normative) Camera interface signals .27
Bibliography . 41

iii
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 document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see http://www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent
rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a)
patent(s) which may be required to implement this document. However, implementers are cautioned that
this may not represent the latest information, which may be obtained from the patent database available at
http://www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
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
http://www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 31, Data
communication.
[1] [2] [3]
This first edition of ISO 23150-13, together with ISO 23150-1 , ISO 23150-2 , ISO 23150-11 , ISO 23150-12
[4] [5] [6] [7]
, ISO 23150-14 , ISO 23150-15 and ISO 23150-20 , cancels and replaces ISO 23150:2023, which has
been technically revised.
The main changes are as follows:
— reorganisation of the document structure; use of generic interfaces, generic signals, generic profiles and
[1]
terms and definitions defined in ISO 23150-1 as a basis for this document;
— specific collection of interfaces in separated documents; in this document specific collection of all
technology specific interfaces for camera;
— revise of the logical interfaces;
— new logical interfaces for camera advanced detections.
A list of all parts in the ISO 23150 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.

iv
Introduction
Vehicle environmental perception sensors (single sensor or sensor cluster) provide logical interfaces
according to the ISO 23150 series to the fusion unit or automated driving functions. The fusion unit
generates a surround model and interprets the scene around the vehicle based on the sensor data. Interfaces
are defined on different levels and described in a modular and semantic representation. The interfaces
on feature level, advanced detection level and detection level are technology specific and differ by each
technology.
Figure 1 shows the schematic and contextual relationships between the documents relating to logical
interfaces of the ISO 23150 series.
Key
scope of this document
Figure 1 — Relationship of the ISO 23150 series
This document specifies technology-specific interfaces for camera sensors as well as sensor clusters.
[1]
The interfaces are bases on the generic specifications of the interfaces in ISO 23150-1 . This document
references the generic specifications of signals for the interface header, the generic interface levels and the
profiles.
A camera sensor or sensor cluster may also implement (provide or receive) logical interfaces:
[2]
— on object level (see ISO 23150-2 );
— for additional interfaces as supportive sensor interfaces and sensor input information interfaces (see
[7]
ISO 23150-20 ).
This document is not intended to replace the logical interface specifications of other documents in the
ISO 23150 series.
[1]
This document is based on the generic specifications in ISO 23150-1 as shown in Figure 2:
— generic sensor cluster feature interface;
— generic sensor advanced detection interface;
— generic sensor detection interface;
— general level-independent profiles.

v
Key
scope of the document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150
series
vi
International Standard ISO 23150-13:2026(en)
Road vehicles — Logical interface between sensors and data
fusion unit for automated driving functions —
Part 13:
Camera specific interfaces
1 Scope
This document is applicable to road vehicles with automated driving functions and specifies the technology-
specific logical interfaces for camera sensors or sensor clusters, such as:
— feature-level interface;
— advanced detection-level interface;
— detection-level interface.
This document does not provide electrical and mechanical interface specifications. Raw data interfaces are
also excluded.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 23150-1:2026, Road vehicles — Logical interface between sensors and data fusion unit for automated
driving functions — Part 1: General information and principles
ISO 23150-1, Road vehicles — Logical interface between sensors and data fusion unit for automated driving
functions — Part 1: General information and principles
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 23150-1 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 https:// www .electropedia .org/

4 Abbreviated terms
A2I assign to interface
AD automated driving
ADLI advanced detection level interface
AER alternative entity representation
C conditional
CADI camera advanced detection interface
CDI camera detection interface
CFI camera feature interface
D dimensional
DE default enumerators
DLI detection level interface
ECU electronic control unit
EES extended enumeration signal
EM error model
FLI feature level interface
ID identifier
IQR interquartile range
IR infrared
IRI international roughness index
IV implicit value
LL list length
LSG logical signal group
M mandatory
O optional
OLI object level interface
RL requirement level
SII sensor input interface
SSI supportive sensor interface
UTL unrolling tuple list
VRO value representation optimisation

5 Feature level
5.1 Camera feature interface
[8]
The generic specification of the feature interfaces is defined in ISO 23150-1:2026 , Clause 8. The camera
feature interface shall base on the generic sensor cluster feature interface as specified in ISO 23150-1:2026,
8.2. Table 1 provides the logical structure of the CFI.
Table 1 — Camera feature interface structure
Structure Multiplicity Option
Camera feature header (5.2) 1
Features Multiple Size type:
dynamic/fixed
The logical structure of the CFI shall be implemented in accordance with the interface definition specified in
Table 2, the signals as defined in Annex A and ISO 23150-1:2026, Annex A. Furthermore, the generic profiles
as defined in 5.4 and in ISO 23150-1 as well as the signal options defined in ISO 23150-1:2026, Annex B shall
also be considered.
Table 2 — Camera feature interface
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Information: M Interface version ID {major, minor, M Profile: Uniqueness of
[8]
interface patch} (ISO 23150-1:2026 , A.1.2) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
[8]
Interface ID (ISO 23150-1:2026 , O Profile: Uniqueness of
A.1.3) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Number of valid serving sensors (ISO M Profile: Uniqueness of
[8]
23150-1:2026 , A.1.4) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Sensor ID (ISO 23150-
[8]
1:2026 , A.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid serving sensors (ISO 23150-1:2026 , A.1.4)
[8]
Sensor ID (ISO 23150-1:2026 , M Profile: Uniqueness of
A.1.5) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Time stamp – prediction (ISO 23150- M
[8]
1:2026 , A.1.6.1)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , A.2.30) has the
mandatory enumeration "ST_Point", "ST_Line" or "ST_2DSurface". For the definition of a "ST_2DSurface", only the exemplary
enumeration "ST_2DSurface_Segment" is not used.

TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
[8]
Cycle counter (ISO 23150-1:2026 , O Redundancy (ISO 23150-
[8]
A.1.7.1) 1:2026 , B.1.3)
Signal: Time stamp – pre-
diction (ISO 23150-1:2026
[8]
, A.1.6.1)
Interface cycle time (ISO 23150-1:2026 O
[8]
, A.1.8)
Interface cycle time – variation (ISO O
[8]
23150-1:2026 , A.1.9)
[8]
Data qualifier (ISO 23150-1:2026 , M Optimise DE (ISO 23150-
[8]
A.1.10) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Colour model type (ISO 23150-1:2026 M Profile: Colour model (ISO
[8] [8]
, A.1.14) 23150-1:2026 , 6.5.2)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Use enumeration to define
colours by defining colour
values and the applied
colour model for each enu-
merator.
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Features
Features M Recognised features – capability (ISO O
[8]
information 23150-1:2026 , A.1.11.2)
Recognised features – status (ISO O Redundancy (ISO 23150-
[8] [8]
23150-1:2026 , A.1.12.2) 1:2026 , B.1.3)
Signal: Recognised features
– capability (ISO 23150-
[8]
1:2026 , A.1.11.2)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Number of valid features (ISO 23150- M Optimise LL (ISO 23150-
[8] [8]
1:2026 , A.1.13.2) 1:2026 , B.1.2)
Optimize AER (ISO 23150-
[8]
1:2026 , B.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid features (ISO 23150-1:2026 , A.1.13.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , A.2.30) has the
mandatory enumeration "ST_Point", "ST_Line" or "ST_2DSurface". For the definition of a "ST_2DSurface", only the exemplary
enumeration "ST_2DSurface_Segment" is not used.

TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Status M Existence probability – feature level M
[8]
(ISO 23150-1:2026 , A.4.2)
[8]
Feature ID (ISO 23150-1:2026 , C (ISO 23150- Alternative A2I (ISO 23150-
[8] [8]
A.4.3) 1:2026 , B.3.2) 1:2026 , B.3.3)
Exist: DLI
Feature grouping ID (A.2.2) O
Object ID reference (ISO 23150- C (ISO 23150- Alternative A2I (ISO 23150-
[8] [8] [8]
1:2026 , A.2.69) 1:2026 , B.3.2) 1:2026 , B.3.3)
Exist: OLI
Time stamp difference – feature M Optimise IV (ISO 23150-
[8] [8]
level (ISO 23150-1:2026 , A.4.4) 1:2026 , B.1.6)
Number of valid observations (ISO O Profile: Observations (ISO
[8] [8] a
23150-1:2026 , A.2.23) 23150-1:2026 , 6.5.8)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Time stamp reference
[8]
(ISO 23150-1:2026 ,
A.2.24)
Size type: dynamic/fixed
[8]
Size #: Number of valid observations (ISO 23150-1:2026 , A.2.23)
Time stamp reference (ISO M Profile: Observations (ISO
[8] [8] a
23150-1:2026 , A.2.24) 23150-1:2026 , 6.5.8)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Observation status (ISO 23150- M Profile: Observations (ISO
[8] [8] a
1:2026 , A.2.25) 23150-1:2026 , 6.5.8)
Redundancy (ISO 23150-
[8]
1:2026 , B.1.3)
Signal: Feature ID (ISO
[8]
23150-1:2026 , A.4.3) (if
unique over time), Time
stamp – prediction (ISO
[8]
23150-1:2026 , A.1.6.1)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , A.2.30) has the
mandatory enumeration "ST_Point", "ST_Line" or "ST_2DSurface". For the definition of a "ST_2DSurface", only the exemplary
enumeration "ST_2DSurface_Segment" is not used.

TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Shape M Number of valid shape classifica- M Profile: Shape classification
[8] [8]
information tions (ISO 23150-1:2026 , A.2.26) (ISO 23150-1:2026 , 6.5.9)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Shape classification
[8]
type (ISO 23150-1:2026 ,
A.2.27)
Size type: dynamic/fixed
[8]
Size #: Number of valid shape classifications (ISO 23150-1:2026 , A.2.26)
Shape classification type (ISO M Profile: Shape classification
[8] [8]
23150-1:2026 , A.2.27) (ISO 23150-1:2026 , 6.5.9)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Shape classification type – con- M Profile: Shape classification
[8] [8]
fidence (ISO 23150-1:2026 , (ISO 23150-1:2026 , 6.5.9)
A.2.28)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
↪ Shape colour M Size type: dynamic/fixed
tone Size #
[8]
* Implicit list length – Optimise LL (ISO 23150-1:2026 , B.1.2): depends on
[8]
Colour model type (ISO 23150-1:2026 , A.1.14)
Colour value (ISO 23150-1:2026 M Profile: Colour model (ISO
[8] [8]
, A.2.18) 23150-1:2026 , 6.5.2)
Colour tone – confidence (ISO O Profile: Colour model (ISO
[8] [8]
23150-1:2026 , A.2.19) 23150-1:2026 , 6.5.2)
[8]
↪ Shape points M Shape type (ISO 23150-1:2026 , M Profile: Shape type {x, y,
[8]
A.2.30) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Number of valid vertices (ISO M Profile: Shape type {x, y,
[8] [8]
23150-1:2026 , A.2.31) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , A.2.30) has the
mandatory enumeration "ST_Point", "ST_Line" or "ST_2DSurface". For the definition of a "ST_2DSurface", only the exemplary
enumeration "ST_2DSurface_Segment" is not used.

TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Size type: dynamic/fixed
[8]
Size #: Number of valid vertices (ISO 23150-1:2026 , A.2.31)
Vertex point {x,y,z} (ISO 23150- M Profile: Shape type {x, y,
[8] [8]
1:2026 , A.2.35) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Vertex point {x,y,z} – error (ISO M Profile: Shape type {x, y,
[8] [8]
23150-1:2026 , A.2.36) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Implementation EM (ISO
[8]
23150-1:2026 , B.4.2)
Vertex point {x,y,z} – confidence O Profile: Shape type {x, y,
[8] [8]
(ISO 23150-1:2026 , A.2.37) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
↪ Shape refer- O Number of valid shape reference M Optimise LL (ISO 23150-
[8]
ence points points – feature level (A.2.3) 1:2026 , B.1.2)
Size type: dynamic/fixed
Size #: Number of valid shape reference points – feature level (A.2.3)
Position {x, y, z} (ISO 23150- M Profile: Position {x, y, z}
[8] [8]
1:2026 , A.2.43) (ISO 23150-1:2026 ,
6.5.11.2)
Position {x, y, z} – error (ISO M Profile: Position {x, y, z}
[8] [8]
23150-1:2026 , A.2.44) (ISO 23150-1:2026 ,
6.5.11.2)
Implementation EM (ISO
[8]
23150-1:2026 , B.4.2)
Point existence probability – M
feature level (A.2.4)
Shape surface normal {x, y, z} O
(A.2.5)
Shape surface normal {x, y, z} – O Implementation EM (ISO
[8]
error (A.2.6) 23150-1:2026 , B.4.2)
Translation rate {x, y, z} (ISO M Profile: Translation rate
[8]
23150-1:2026 , A.2.49) {x,y,z} (ISO 23150-1:2026
[8]
, 6.5.12.2)
Translation rate {x, y, z} – error M Profile: Translation rate
[8]
(ISO 23150-1:2026 , A.2.50) {x,y,z} (ISO 23150-1:2026
[8]
, 6.5.12.2)
Implementation EM (ISO
[8]
23150-1:2026 , B.4.2)
Rotation rate {yaw, pitch, roll} O
(A.2.7)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , A.2.30) has the
mandatory enumeration "ST_Point", "ST_Line" or "ST_2DSurface". For the definition of a "ST_2DSurface", only the exemplary
enumeration "ST_2DSurface_Segment" is not used.

TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Rotation rate {yaw, pitch, roll} – O Implementation EM (ISO
[8]
error (A.2.8) 23150-1:2026 , B.4.2)
DEPRECATED: Scale change – O
feature level (A.2.9)
DEPRECATED: Scale change – O Implementation EM (ISO
[8]
feature level – error (A.2.10) 23150-1:2026 , B.4.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , A.2.30) has the
mandatory enumeration "ST_Point", "ST_Line" or "ST_2DSurface". For the definition of a "ST_2DSurface", only the exemplary
enumeration "ST_2DSurface_Segment" is not used.
5.2 Camera feature header
Table 3 defines the interface header for camera features and the changes due to the adaptation in comparison
to the "generic sensor cluster feature header" as specified in ISO 23150-1:2026, 8.3, which shall be used as
the interface header. The header of the CFI specifies the list of valid camera feature entities (see 5.3).
Table 3 — Specific signal grouping: Camera feature header
Signal RL signal Option
Interface version ID {major, minor, patch} Mandatory Profile: Uniqueness of interface versioning
[8] [8]
(ISO 23150-1:2026 , A.1.2) (ISO 23150-1:2026 , 6.5.1)
[8]
Interface ID (ISO 23150-1:2026 , A.1.3) Optional Profile: Uniqueness of interface versioning
[8]
(ISO 23150-1:2026 , 6.5.1)
Number of valid serving sensors (ISO 23150- Mandatory Profile: Uniqueness of interface versioning
[8] [8]
1:2026 , A.1.4) (ISO 23150-1:2026 , 6.5.1)
[8]
Optimise LL (ISO 23150-1:2026 , B.1.2)
[8]
Alternative UTL (ISO 23150-1:2026 , B.1.7)
[8]
Key: Sensor ID (ISO 23150-1:2026 , A.1.5)
[8]
↪ Sensor ID (ISO 23150-1:2026 , A.1.5) Mandatory Profile: Uniqueness of interface versioning
[8]
(ISO 23150-1:2026 , 6.5.1)
[8]
Alternative VRO (ISO 23150-1:2026 , B.1.4)
Time stamp – prediction (ISO 23150-1:2026 Mandatory
[8]
, A.1.6.1)
[8] [8]
Cycle counter (ISO 23150-1:2026 , A.1.7.1) Optional Redundancy (ISO 23150-1:2026 , B.1.3)
Signal: Time stamp – prediction (ISO 23150-
[8]
1:2026 , A.1.6.1)
[8]
Interface cycle time (ISO 23150-1:2026 , Optional
A.1.8)
Interface cycle time – variation (ISO 23150- Optional
[8]
1:2026 , A.1.9)
[8] [8]
Data qualifier (ISO 23150-1:2026 , A.1.10) Mandatory Optimise DE (ISO 23150-1:2026 , B.1.8)
[8]
Optimise EES (ISO 23150-1:2026 , B.1.9)
a [8]
Further signals of "Need of logical signal group" (ISO 23150-1:2026 , B.3.4) profiles may be added to this header (see cell
options).
TTabablele 3 3 ((ccoonnttiinnueuedd))
Signal RL signal Option
[8] [8]
Colour model type (ISO 23150-1:2026 , Mandatory Profile: Colour model (ISO 23150-1:2026 ,
A.1.14) 6.5.2)
[8]
Alternative VRO (ISO 23150-1:2026 , B.1.4)
Use enumeration to define colours by defining
colour values and the applied colour model
for each enumerator.
[8]
Optimise DE (ISO 23150-1:2026 , B.1.8)
[8]
Optimise EES (ISO 23150-1:2026 , B.1.9)
a
... Need of logical signal group (ISO 23150-
[8]
1:2026 , B.3.4)
Profile: Vehicle coordinate system (ISO
[8]
23150-1:2026 , 6.5.4)
[8]
Profile: Sensor pose (ISO 23150-1:2026 ,
6.5.5)
[8]
Profile: Calibration (ISO 23150-1:2026 ,
6.5.6)
[8]
Profile: Sensor cluster (ISO 23150-1:2026 ,
6.5.7)
Features
Recognised features – capability (ISO 23150- Optional
[8]
1:2026 , A.1.11.2)
[8]
Recognised features – status (ISO 23150- Optional Redundancy (ISO 23150-1:2026 , B.1.3)
[8]
1:2026 , A.1.12.2) Signal: Recognised features – capability (ISO
[8]
23150-1:2026 , A.1.11.2)
[8]
Optimise DE (ISO 23150-1:2026 , B.1.8)
[8]
Optimise EES (ISO 23150-1:2026 , B.1.9)
[8]
Number of valid features (ISO 23150-1:2026 Mandatory Optimise LL (ISO 23150-1:2026 , B.1.2)
[8]
, A.1.13.2) [8]
Optimize AER (ISO 23150-1:2026 , B.1.5)
↪ Feature entities
a [8]
Further signals of "Need of logical signal group" (ISO 23150-1:2026 , B.3.4) profiles may be added to this header (see cell
options).
5.3 Camera feature entity
For the camera, features shall be understood as shapes extracted from camera images. The shapes describe
regions with the same semantic content (see Figure 3).
Each feature of a camera sensor cluster shall describe a recognised feature and consists of several LSGs.
— Status: the status describes general information of the feature and provides an additional grouping ID to
group interconnected camera features. This information is based on basic feature history information.
Table 4 defines the signal grouping "Camera feature entity status", which shall be used as the entity
status. It defines this status LSG of the feature and redefines the signal grouping "Generic sensor cluster
feature entity status", which shall be as specified in ISO 23150-1:2026, 8.4.
— Shape information: the shape information describes the attributes of the tracked shape.
— Shape colour tone: the colour tone describes visual properties of the shape.
— Shape points: the shape points describe the geometric vertices of the hull for the feature shape.
— Shape reference points: the shape reference points are small distinctive trackable segments which are
part of the feature’s shape.
Key
1 shape with shape points
2 shape reference point with approximated tangential plane and orientation normal
Figure 3 — Example for a camera feature shape
Table 4 — Specific signal grouping: Camera feature entity status
Signal RL signal Option
Existence probability – feature level (ISO 23150-1:2026 Mandatory
[8]
, A.4.2)
[8]
Feature ID (ISO 23150-1:2026 , A.4.3) Conditional (ISO Alternative A2I (ISO 23150-
[8] [8]
23150-1:2026 , 1:2026 , B.3.3)
B.3.2)
Exist: DLI
Feature grouping ID (A.2.2) Optional
[8]
Object ID reference (ISO 23150-1:2026 , A.2.69) Conditional (ISO Alternative A2I (ISO 23150-
[8] [8]
23150-1:2026 , 1:2026 , B.3.3)
B.3.2)
Exist: OLI
Time stamp difference – feature level (ISO 23150-1:2026 Mandatory Optimise IV (ISO 23150-1:2026
[8] [8]
, A.4.4) , B.1.6)
[8]
Number of valid observations (ISO 23150-1:2026 , Optional Profile: Observations (ISO 23150-
[8] a
A.2.23) 1:2026 , 6.5.8)
Optimise LL (ISO 23150-1:2026
[8]
, B.1.2)
Alternative UTL (ISO 23150-
[8]
1:2026 , B.1.7)
Key: Time stamp reference (ISO
[8]
23150-1:2026 , A.2.24)
[8]
↪ Time stamp reference (ISO 23150-1:2026 , A.2.24) Mandatory Profile: Observations (ISO 23150-
[8] a
1:2026 , 6.5.8)
Alternative VRO (ISO 23150-
[8]
1:2026 , B.1.4)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.

TTabablele 4 4 ((ccoonnttiinnueuedd))
Signal RL signal Option
[8]
↪ Observation status (ISO 23150-1:2026 , A.2.25) Mandatory Profile: Observations (ISO 23150-
[8] a
1:2026 , 6.5.8)
Redundancy (ISO 23150-1:2026
[8]
, B.1.3)
Signal: Feature ID (ISO 23150-
[8]
1:2026 , A.4.3) (if unique over
time), Time stamp – prediction
[8]
(ISO 23150-1:2026 , A.1.6.1)
Optimise DE (ISO 23150-1:2026
[8]
, B.1.8)
Optimise EES (ISO 23150-1:2026
[8]
, B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
5.4 Camera feature profiles
For CFI, no specific profiles are defined.
6 Advanced detection level
6.1 Camera advanced detection interface
[8]
The generic specification of the advanced detection interfaces is defined in ISO 23150-1:2026 , Clause 9.
The camera advanced detection interface shall base on the generic sensor advanced detection interface as
specified in ISO 23150-1:2026, 9.2. Table 5 provides the logical structure of the CADI.
Table 5 — Camera advanced detection interface structure
Structure Multiplicity Option
Camera advanced detection header (6.2) 1
Advanced detections Multiple Size type:
dynamic/fixed
The logical structure of the CADI shall be implemented in accordance with the interface definition specified
in Table 6, the signals as defined in Annex A and ISO 23150-1:2026, Annex A. Furthermore, the generic
profiles as defined in 6.4 and in ISO 23150-1 as well as the signal options defined in ISO 23150-1:2026, Annex
B shall also be considered. The CADI describes a two dimensional view on dynamic advanced detections (see
Figure 4).
Key
1 sensor
2 bounding box of the advanced detection [see signal "Bounding box extent {azimuth left edge, azimuth right
edge, azimuth far edge, elevation bottom edge, elevation top edge}" (A.3.4)]
3 dominant side of the advanced detections bounding box [see signal "Classified view of advanced detection"
(A.3.3)]
4 non-dominant side of the advanced detections bounding box [see signal "Classified view of advanced
detection" (A.3.3)]
real world 3D bounding box
Figure 4 — Camera advanced detection
Table 6 — Camera advanced detection interface
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Information: M Interface version ID {major, minor, M Profile: Uniqueness of
[8]
interface patch} (ISO 23150-1:2026 , A.1.2) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
[8]
Interface ID (ISO 23150-1:2026 , O Profile: Uniqueness of
A.1.3) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Number of valid serving sensors (ISO M Profile: Uniqueness of
[8]
23150-1:2026 , A.1.4) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Sensor ID (ISO 23150-
[8]
1:2026 , A.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid serving sensors (ISO 23150-1:2026 , A.1.4)
[8]
Sensor ID (ISO 23150-1:2026 , M Profile: Uniqueness of
A.1.5) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
a [8] [8]
At least one of the signals "Object ID reference" (ISO 23150-1:2026 , A.2.69), "Feature ID reference" (ISO 23150-1:2026 ,
[8]
A.2.70), "Detection ID reference" (ISO 23150-1:2026 , A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Time stamp – measurement (ISO M
[8]
23150-1:2026 , A.1.6.2)
[8]
Cycle counter (ISO 23150-1:2026 , O Redundancy (ISO 23150-
[8]
A.1.7.1) 1:2026 , B.1.3)
Signal: Time stamp – meas-
urement (ISO 23150-1:2026
[8]
, A.1.6.2)
Interface cycle time (ISO 23150-1:2026 O
[8]
, A.1.8)
Interface cycle time – variation (ISO O
[8]
23150-1:2026 , A.1.9)
[8]
Data qualifier (ISO 23150-1:2026 , M Optimise DE (ISO 23150-
[8]
A.1.10) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Advanced detections
Advanced de- M Recognised advanced detections – ca- O
[8]
tections pability (ISO 23150-1:2026 , A.1.11.3)
information
Recognised advanced detections – sta- O Redundancy (ISO 23150-
[8] [8]
tus (ISO 23150-1:2026 , A.1.12.3) 1:2026 , B.1.3)
Signal: Recognised ad-
vanced detections – capa-
[8]
bility (ISO 23150-1:2026 ,
A.1.11.3)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Number of valid advanced detections M Optimise LL (ISO 23150-
[8] [8]
(ISO 23150-1:2026 , A.1.13.3) 1:2026 , B.1.2)
Optimize AER (ISO 23150-
[8]
1:2026 , B.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid advanced detections (ISO 23150-1:2026 , A.1.13.3)
↪ Status M Existence probability – advanced M
detection level (ISO 23150-1:2026
[8]
, A.5.2)
Advanced detection ID (ISO 23150- M Alternative A2I (ISO 23150-
[8] [8]
1:2026 , A.6.3) 1:2026 , B.3.3)
Object ID reference (ISO 23150- C (ISO 23150- Alternative A2I (ISO 23150-
[8] [8] [8]
1:2026 , A.2.69) 1:2026 , B.3.2) 1:2026 , B.3.3)
Exist: OLI
Time stamp difference – advanced M Optimise IV (ISO 23150-
[8]
detection level (ISO 23150-1:2026 1:2026 , B.1.6)
[8]
, A.5.4)
[8]
Age (ISO 23150-1:2026 , A.2.22) O Profile: Observations (ISO
[8]
23150-1:2026 , 6.5.8)
a [8] [8]
At least one of the signals "Object ID reference" (ISO 23150-1:2026 , A.2.69), "Feature ID reference" (ISO 23150-1:2026 ,
[8]
A.2.70), "Detection ID reference" (ISO 23150-1:2026 , A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Number of valid observations (ISO O Profile: Observations (ISO
[8] [8]
23150-1:2026 , A.2.23) 23150-1:2026 , 6.5.8)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Time stamp reference
[8]
(ISO 23150-1:2026 ,
A.2.24)
Size type: dynamic/fixed
[8]
Size #: Number of valid observations (ISO 23150-1:2026 , A.2.23)
Time stamp reference (ISO M Profile: Observations (ISO
[8] [8]
23150-1:2026 , A.2.24) 23150-1:2026 , 6.5.8)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Observation status (ISO 23150- M Profile: Observations (ISO
[8] [8]
1:2026 , A.2.25) 23150-1:2026 , 6.5.8)
Redundancy (ISO 23150-
[8]
1:2026 , B.1.3)
Signal: Object ID reference
[8]
(ISO 23150-1:2026 ,
A.2.69), Time stamp – pre-
diction (ISO 23150-1:2026
[8]
, A.1.6.1)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
↪Information M Number of valid recognition clas- M Profile: Recognition classi-
[8]
sifications (ISO 23150-1:2026 , fication type (ISO 23150-
[8]
A.2.61) 1:2026 , 6.5.15)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Recognition classifica-
tion type (ISO 23150-1:2026
[8]
, A.2.62)
Size type: dynamic/fixed
[8]
Size #: Number of valid recognition classifications (ISO 23150-1:2026 , A.2.61)
Recognition classification type M Profile: Recognition classi-
[8]
(ISO 23150-1:2026 , A.2.62) fication type (ISO 23150-
[8]
1:2026 , 6.5.15)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
a [8] [8]
At least one of the signals "Object ID reference" (ISO 23150-1:2026 , A.2.69), "Feature ID reference" (ISO 23150-1:2026 ,
[8]
A.2.70), "Detection ID reference" (ISO 23150-1:2026 , A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Recognition classification type M Profile: Recognition classi-
– confidence (ISO 23150-1:2026 fication type (ISO 23150-
[8] [8]
, A.2.63) 1:2026 , 6.5.15)
Generic visible view of advanced de- M Optimise DE (ISO 23150-
[8]
tection (A.3.2) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Classified view of advanced detection O Optimise DE (ISO 23150-
[8]
(A.3.3) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Bounding box extent {azimuth left M
edge, azimuth right edge, azimuth
far edge, elevation bottom edge,
elevation top edge} (A.3.4)
Bounding box extent {azimuth left M Implementation EM (ISO
[8]
edge, azimuth right edge, azimuth 23150-1:2026 , B.4.2)
far edge, elevation bottom edge,
elevation top edge} – error (A.3.5)
Number of valid angles from O
advanced camera detection to refer-
enced recognition (A.3.6)
Size type: dynamic/fixed
Size #: Number of valid angles from advanced camera detection to referenced
recognition (A.3.6)
Angle of advanced detection M
edge to referenced recognition
(A.3.7)
Angle of advanced detection M Implementation EM (ISO
[8]
edge to referenced recognition – 23150-1:2026 , B.4.2)
error (A.3.8)
Advanced detection bounding M Optimise DE (ISO 23150-
[8]
box edge type reference (A.3.9) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
a b
Object ID reference (ISO 23150- C
[8]
1:2026 , A.2.69)
a
Feature ID reference (ISO 23150- C
[8]
1:2026 , A.2.70)
a
Detection ID reference (ISO C
[8]
23150-1:2026 , A.2.72)
↪ Dynamics O Advanced detection reference point M Redundancy (ISO 23150-
[8]
in advanced detection view {u, v} 1:2
...