ISO 23150-13

Road vehicles — Logical interface between sensors and data fusion unit for automated driving functions — Part 13: Camera specific interfaces

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 — Interface logique entre capteurs et unité de fusion de données pour les fonctions de conduite automatisée — Partie 13: Interfaces spécifiques de caméra

General Information

• Status: Not Published
• ICS: 43.040.15 - Car informatics. On board computer systems
• Technical Committee: ISO/TC 22/SC 31 - Data communication
• Drafting Committee: ISO/TC 22/SC 31/WG 9 - Sensor data interface for automated driving functions
• Current Stage: 6000 - International Standard under publication
• Start Date: 23-Apr-2026
• Completion Date: 25-Apr-2026

Relations

• 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: Road Vehicles - Logical Interface Between Sensors and Data Fusion Unit for Automated Driving Functions - Part 13: Camera Specific Interfaces is an international standard developed by ISO. This document is part of the ISO 23150 series, specifically focusing on defining the logical interface between camera-based environmental perception sensors (or sensor clusters) and the fusion unit in vehicles equipped with automated driving functions.

Automated driving technology relies on the integration and interpretation of data from various sensor types, such as radar, lidar, cameras, and ultrasonic sensors. The fusion unit generates a comprehensive surround model of the environment by receiving structured data from these sensors. ISO 23150-13 ensures that the logical interface used for this communication-particularly for cameras-is clear, modular, and semantically rich, supporting reliable interpretation and interoperability.

This standard does not specify electrical or mechanical interfaces, nor does it cover raw data exchange; its scope is limited to the logical and semantic information exchange at multiple abstraction levels.

Key Topics

• Logical Interface Structure:
  The document details a modular approach to defining logical interfaces between camera sensors (or sensor clusters) and the fusion unit, enabling consistent, scalable integration.

• Information Abstraction Levels:
  Data is communicated on several logical levels:

  • Feature Level: Representation of image features and shapes identified by the camera.
  • Advanced Detection Level: Describes more complex patterns or scenarios recognized through camera analytics.
  • Detection Level: Relates to raw detection output from the camera, such as signals linked to specific detections.

• Semantic Representation:
  Camera interface data is described semantically, providing context around objects (static and moving), road features, and detected events to support higher-level automated driving logic.

• Entity and Header Structures:
  Information is systematically structured into interface headers, entity status fields, and associated data groupings to ensure clarity and consistent interpretation by the fusion unit.

• Technology-Specific Adaptation:
  All camera-related interface definitions are based on the generic models outlined in ISO 23150-1 but are tailored to the properties and operational modalities of camera sensors.

• Supportive Data:
  Additional supportive sensor or input information interfaces may be referenced according to vehicle system requirements and the configuration of the sensor suite.

Applications

ISO 23150-13 provides significant value for stakeholders in the automotive and autonomous driving industries:

• Automated Driving Functions:
  Ensures seamless, standardized logical communication between camera sensors and fusion algorithms in systems such as adaptive cruise control, automatic emergency braking, and lane-keeping assistance.

• Sensor Supplier Integration:
  Facilitates interoperability for OEMs and third-party camera sensor suppliers by using common, well-defined, and modular interfaces.

• Advanced Driver-Assistance Systems (ADAS):
  Supports the data abstraction needs of ADAS, driving safety and reliability by allowing multiple sensor inputs to be efficiently fused and interpreted.

• Vehicle Platform Scalability:
  Ensures that future camera technologies or multi-sensor configurations can be integrated into existing automated vehicle platforms with minimal reengineering.

• Development and Testing:
  Provides a unified semantic structure for software developers and automotive system integrators, simplifying development and improving testability.

Related Standards

For comprehensive implementation and reference, ISO 23150-13 should be used alongside other parts of the ISO 23150 series and relevant standards, including:

• ISO 23150-1: General specifications and principles for logical interfaces between sensors and data fusion units
• ISO 23150-2: Object-level interfaces for environmental perception
• ISO 23150-11/12/14/15/20: Technology-specific and supportive sensor interfaces within the ISO 23150 series
• IEC and ISO Terminology Standards: For consistent definitions across data communication protocols and automated vehicle systems

Together, these standards form a robust framework for sensor integration in road vehicles, supporting safe, interoperable, and future-proof automated driving functionality.

Standards Content (Sample)

FINAL DRAFT
International
Standard
ISO/FDIS 23150-13
ISO/TC 22/SC 31
Road vehicles — Logical interface
Secretariat: DIN
between sensors and data fusion
Voting begins on:
unit for automated driving
2026-02-25
functions —
Voting terminates on:
2026-04-22
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
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
Reference number
ISO/FDIS 23150-13:2026(en) © ISO 2026

FINAL DRAFT
ISO/FDIS 23150-13:2026(en)
International
Standard
ISO/FDIS 23150-13
ISO/TC 22/SC 31
Road vehicles — Logical interface
Secretariat: DIN
between sensors and data fusion
Voting begins on:
unit for automated driving
functions —
Voting terminates on:
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
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
© ISO 2026
IN ADDITION TO THEIR EVALUATION AS
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
or ISO’s member body in the country of the requester.
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
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 Reference number
ISO/FDIS 23150-13:2026(en) © ISO 2026

ii
ISO/FDIS 23150-13:2026(en)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 1
5 Feature level . 2
5.1 Camera feature interface .2
5.2 Camera feature header .7
5.3 Camera feature entity .9
5.4 Camera feature profiles .10
6 Advanced detection level .10
6.1 Camera advanced detection interface .10
6.2 Camera advanced detection header . 15
6.3 Camera advanced detection entity .16
6.4 Camera advanced detection profiles .17
7 Detection level . 17
7.1 Camera detection interface .17
7.2 Camera detection header . 23
7.3 Camera detection entity .24
7.4 Camera detection profiles . 25
Annex A (normative) Camera interface signals .26
Bibliography .39

iii
ISO/FDIS 23150-13:2026(en)
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.
This first edition of ISO 23150-13, together with ISO 23150-1, ISO 23150-2, ISO 23150-11, ISO 23150-12,
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
terms and definitions defined in ISO/FDIS 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
ISO/FDIS 23150-13:2026(en)
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. The
[1]
interfaces are bases on the generic specifications of the interfaces in ISO/FDIS 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/FDIS 23150-2 );
— for additional interfaces as supportive sensor interfaces and sensor input information interfaces (see
[3]
ISO/FDIS 23150-20 ).
This document is not intended to replace the logical interface specifications of other documents in the
ISO 23150 series.
This document is based on the generic specifications in ISO/FDIS 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
ISO/FDIS 23150-13:2026(en)
Key
scope of the document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150
series
vi
FINAL DRAFT International Standard ISO/FDIS 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/FDIS 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/FDIS 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
ISO/FDIS 23150-13:2026(en)
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
The generic specification of the feature interfaces is defined in ISO/FDIS 23150-1, Clause 8. The camera
feature interface shall base on the generic sensor cluster feature interface as specified in ISO/FDIS 23150-1,
8.2. Table 1 provides the logical structure of the CFI.

ISO/FDIS 23150-13:2026(en)
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/FDIS 23150-1, Annex A. Furthermore, the generic profiles
as defined in 5.4 and in ISO/FDIS 23150-1 as well as the signal options defined in ISO/FDIS 23150-1, 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 inter-
interface patch} (ISO/FDIS 23150-1, A.1.2) face versioning (ISO/FDIS
23150-1, 6.5.1)
Interface ID (ISO/FDIS 23150-1, A.1.3) O Profile: Uniqueness of inter-
face versioning (ISO/FDIS
23150-1, 6.5.1)
Number of valid serving sensors (ISO/ M Profile: Uniqueness of inter-
FDIS 23150-1, A.1.4) face versioning (ISO/FDIS
23150-1, 6.5.1)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/FDIS
23150-1, B.1.7)
Key: Sensor ID (ISO/FDIS
23150-1, A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO/FDIS 23150-1, A.1.4)
Sensor ID (ISO/FDIS 23150-1, A.1.5) M Profile: Uniqueness of inter-
face versioning (ISO/FDIS
23150-1, 6.5.1)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Time stamp – prediction (ISO/FDIS M
23150-1, A.1.6.1)
Cycle counter (ISO/FDIS 23150-1, O Redundancy (ISO/FDIS
A.1.7.1) 23150-1, B.1.3)
Signal: Time stamp – pre-
diction (ISO/FDIS 23150-1,
A.1.6.1)
Interface cycle time (ISO/FDIS 23150-1, O
A.1.8)
Interface cycle time – variation (ISO/ O
FDIS 23150-1, A.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
"Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) always has the mandatory enumeration "PIM_Linear". The
profile does not provide the signal "Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) explicitly. Camera features
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO/FDIS 23150-1, 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.

ISO/FDIS 23150-13:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Data qualifier (ISO/FDIS 23150-1, M Optimise DE (ISO/FDIS
A.1.10) 23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Colour model type (ISO/FDIS 23150-1, M Profile: Colour model (ISO/
A.1.14) FDIS 23150-1, 6.5.2)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Use enumeration to define
colours by defining colour
values and the applied
colour model for each enu-
merator.
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Features
Features M Recognised features – capability (ISO/ O
information FDIS 23150-1, A.1.11.2)
Recognised features – status (ISO/FDIS O Redundancy (ISO/FDIS
23150-1, A.1.12.2) 23150-1, B.1.3)
Signal: Recognised features
– capability (ISO/FDIS
23150-1, A.1.11.2)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Number of valid features (ISO/FDIS M Optimise LL (ISO/FDIS
23150-1, A.1.13.2) 23150-1, B.1.2)
Optimize AER (ISO/FDIS
23150-1, B.1.5)
Size type: dynamic/fixed
Size #: Number of valid features (ISO/FDIS 23150-1, A.1.13.2)
↪ Status M Existence probability – feature level M
(ISO/FDIS 23150-1, A.4.2)
Feature ID (ISO/FDIS 23150-1, C (ISO/FDIS Alternative A2I (ISO/FDIS
A.4.3) 23150-1, B.3.2) 23150-1, B.3.3)
Exist: DLI
Feature grouping ID (A.2.2) O
Object ID reference (ISO/FDIS C (ISO/FDIS Alternative A2I (ISO/FDIS
23150-1, A.2.69) 23150-1, B.3.2) 23150-1, B.3.3)
Exist: OLI
Time stamp difference – feature M Optimise IV (ISO/FDIS
level (ISO/FDIS 23150-1, A.4.4) 23150-1, B.1.6)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
"Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) always has the mandatory enumeration "PIM_Linear". The
profile does not provide the signal "Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) explicitly. Camera features
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO/FDIS 23150-1, 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.

ISO/FDIS 23150-13:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Number of valid observations (ISO/ O Profile: Observations (ISO/
a
FDIS 23150-1, A.2.23) FDIS 23150-1, 6.5.8)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/FDIS
23150-1, B.1.7)
Key: Time stamp reference
(ISO/FDIS 23150-1, A.2.24)
Size type: dynamic/fixed
Size #: Number of valid observations (ISO/FDIS 23150-1, A.2.23)
Time stamp reference (ISO/FDIS M Profile: Observations (ISO/
a
23150-1, A.2.24) FDIS 23150-1, 6.5.8)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Observation status (ISO/FDIS M Profile: Observations (ISO/
a
23150-1, A.2.25) FDIS 23150-1, 6.5.8)
Redundancy (ISO/FDIS
23150-1, B.1.3)
Signal: Feature ID (ISO/
FDIS 23150-1, A.4.3) (if
unique over time), Time
stamp – prediction (ISO/
FDIS 23150-1, A.1.6.1)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
↪ Shape M Number of valid shape classifica- M Profile: Shape classification
information tions (ISO/FDIS 23150-1, A.2.26) (ISO/FDIS 23150-1, 6.5.9)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/FDIS
23150-1, B.1.7)
Key: Shape classification
type (ISO/FDIS 23150-1,
A.2.27)
Size type: dynamic/fixed
Size #: Number of valid shape classifications (ISO/FDIS 23150-1, A.2.26)
Shape classification type (ISO/ M Profile: Shape classification
FDIS 23150-1, A.2.27) (ISO/FDIS 23150-1, 6.5.9)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
"Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) always has the mandatory enumeration "PIM_Linear". The
profile does not provide the signal "Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) explicitly. Camera features
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO/FDIS 23150-1, 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.

ISO/FDIS 23150-13:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Shape classification type – M Profile: Shape classification
confidence (ISO/FDIS 23150-1, (ISO/FDIS 23150-1, 6.5.9)
A.2.28)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
↪ Shape colour M Size type: dynamic/fixed
tone Size #
* Implicit list length – Optimise LL (ISO/FDIS 23150-1, B.1.2): depends on Colour
model type (ISO/FDIS 23150-1, A.1.14)
Colour value (ISO/FDIS 23150-1, M Profile: Colour model (ISO/
A.2.18) FDIS 23150-1, 6.5.2)
Colour tone – confidence (ISO/FDIS O Profile: Colour model (ISO/
23150-1, A.2.19) FDIS 23150-1, 6.5.2)
↪ Shape points M Shape type (ISO/FDIS 23150-1, M Profile: Shape type {x,
A.2.30) y, z} (ISO/FDIS 23150-1,
b
6.5.10.2)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Number of valid vertices (ISO/FDIS M Profile: Shape type {x,
23150-1, A.2.31) y, z} (ISO/FDIS 23150-1,
b
6.5.10.2)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Size type: dynamic/fixed
Size #: Number of valid vertices (ISO/FDIS 23150-1, A.2.31)
Vertex point {x,y,z} (ISO/FDIS M Profile: Shape type {x,
23150-1, A.2.35) y, z} (ISO/FDIS 23150-1,
b
6.5.10.2)
Vertex point {x,y,z} – error (ISO/ M Profile: Shape type {x,
FDIS 23150-1, A.2.36) y, z} (ISO/FDIS 23150-1,
b
6.5.10.2)
Implementation EM (ISO/
FDIS 23150-1, B.4.2)
Vertex point {x,y,z} – confidence O Profile: Shape type {x,
(ISO/FDIS 23150-1, A.2.37) y, z} (ISO/FDIS 23150-1,
b
6.5.10.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
"Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) always has the mandatory enumeration "PIM_Linear". The
profile does not provide the signal "Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) explicitly. Camera features
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO/FDIS 23150-1, 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.

ISO/FDIS 23150-13:2026(en)
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Shape refer- O Number of valid shape reference M Optimise LL (ISO/FDIS
ence points points – feature level (A.2.3) 23150-1, B.1.2)
Size type: dynamic/fixed
Size #: Number of valid shape reference points – feature level (A.2.3)
Position {x, y, z} (ISO/FDIS M Profile: Position {x, y,
23150-1, A.2.43) z} (ISO/FDIS 23150-1,
6.5.11.2)
Position {x, y, z} – error (ISO/ M Profile: Position {x, y,
FDIS 23150-1, A.2.44) z} (ISO/FDIS 23150-1,
6.5.11.2)
Implementation EM (ISO/
FDIS 23150-1, 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/
error (A.2.6) FDIS 23150-1, B.4.2)
Translation rate {x, y, z} (ISO/ M Profile: Translation rate
FDIS 23150-1, A.2.49) {x,y,z} (ISO/FDIS 23150-1,
6.5.12.2)
Translation rate {x, y, z} – error M Profile: Translation rate
(ISO/FDIS 23150-1, A.2.50) {x,y,z} (ISO/FDIS 23150-1,
6.5.12.2)
Implementation EM (ISO/
FDIS 23150-1, B.4.2)
Rotation rate {yaw, pitch, roll} O
(A.2.7)
Rotation rate {yaw, pitch, roll} – O Implementation EM (ISO/
error (A.2.8) FDIS 23150-1, B.4.2)
DEPRECATED: Scale change – O
feature level (A.2.9)
DEPRECATED: Scale change – O Implementation EM (ISO/
feature level – error (A.2.10) FDIS 23150-1, B.4.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
"Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) always has the mandatory enumeration "PIM_Linear". The
profile does not provide the signal "Polyline interpolation method" (ISO/FDIS 23150-1, A.2.29) explicitly. Camera features
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO/FDIS 23150-1, 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/FDIS 23150-1, 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).

ISO/FDIS 23150-13:2026(en)
Table 3 — Specific signal grouping: Camera feature header
Signal RL signal Option
Interface version ID {major, minor, patch} Mandatory Profile: Uniqueness of interface versioning
(ISO/FDIS 23150-1, A.1.2) (ISO/FDIS 23150-1, 6.5.1)
Interface ID (ISO/FDIS 23150-1, A.1.3) Optional Profile: Uniqueness of interface versioning
(ISO/FDIS 23150-1, 6.5.1)
Number of valid serving sensors (ISO/FDIS Mandatory Profile: Uniqueness of interface versioning
23150-1, A.1.4) (ISO/FDIS 23150-1, 6.5.1)
Optimise LL (ISO/FDIS 23150-1, B.1.2)
Alternative UTL (ISO/FDIS 23150-1, B.1.7)
Key: Sensor ID (ISO/FDIS 23150-1, A.1.5)
↪ Sensor ID (ISO/FDIS 23150-1, A.1.5) Mandatory Profile: Uniqueness of interface versioning
(ISO/FDIS 23150-1, 6.5.1)
Alternative VRO (ISO/FDIS 23150-1, B.1.4)
Time stamp – prediction (ISO/FDIS 23150-1, Mandatory
A.1.6.1)
Cycle counter (ISO/FDIS 23150-1, A.1.7.1) Optional Redundancy (ISO/FDIS 23150-1, B.1.3)
Signal: Time stamp – prediction (ISO/FDIS
23150-1, A.1.6.1)
Interface cycle time (ISO/FDIS 23150-1, A.1.8) Optional
Interface cycle time – variation (ISO/FDIS Optional
23150-1, A.1.9)
Data qualifier (ISO/FDIS 23150-1, A.1.10) Mandatory Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
Colour model type (ISO/FDIS 23150-1, A.1.14) Mandatory Profile: Colour model (ISO/FDIS 23150-1,
6.5.2)
Alternative VRO (ISO/FDIS 23150-1, B.1.4)
Use enumeration to define colours by defining
colour values and the applied colour model
for each enumerator.
Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
a
... Need of logical signal group (ISO/FDIS 23150-
1, B.3.4)
Profile: Vehicle coordinate system (ISO/FDIS
23150-1, 6.5.4)
Profile: Sensor pose (ISO/FDIS 23150-1,
6.5.5)
Profile: Calibration (ISO/FDIS 23150-1, 6.5.6)
Profile: Sensor cluster (ISO/FDIS 23150-1,
6.5.7)
Features
Recognised features – capability (ISO/FDIS Optional
23150-1, A.1.11.2)
Recognised features – status (ISO/FDIS Optional Redundancy (ISO/FDIS 23150-1, B.1.3)
23150-1, A.1.12.2) Signal: Recognised features – capability (ISO/
FDIS 23150-1, A.1.11.2)
Optimise DE (ISO/FDIS 23150-1, B.1.8)
Optimise EES (ISO/FDIS 23150-1, B.1.9)
Number of valid features (ISO/FDIS 23150-1, Mandatory Optimise LL (ISO/FDIS 23150-1, B.1.2)
A.1.13.2)
Optimize AER (ISO/FDIS 23150-1, B.1.5)
↪ Feature entities
a [1]
Further signals of "Need of logical signal group" (ISO/FDIS 23150-1 , B.3.4) profiles may be added to this header (see cell
options).
ISO/FDIS 23150-13:2026(en)
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/FDIS 23150-1, 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/FDIS 23150-1, Mandatory
A.4.2)
Feature ID (ISO/FDIS 23150-1, A.4.3) Conditional (ISO/FDIS Alternative A2I (ISO/FDIS 23150-
23150-1, B.3.2) 1, B.3.3)
Exist: DLI
Feature grouping ID (A.2.2) Optional
Object ID reference (ISO/FDIS 23150-1, A.2.69) Conditional (ISO/FDIS Alternative A2I (ISO/FDIS 23150-
23150-1, B.3.2) 1, B.3.3)
Exist: OLI
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, A.2.22) on FLI.

ISO/FDIS 23150-13:2026(en)
TTabablele 4 4 ((ccoonnttiinnueuedd))
Signal RL signal Option
Time stamp difference – feature level (ISO/FDIS 23150-1, Mandatory Optimise IV (ISO/FDIS 23150-1,
A.4.4) B.1.6)
Number of valid observations (ISO/FDIS 23150-1, A.2.23) Optional Profile: Observations (ISO/FDIS
a
23150-1, 6.5.8)
Optimise LL (ISO/FDIS 23150-1,
B.1.2)
Alternative UTL (ISO/FDIS 23150-
1, B.1.7)
Key: Time stamp reference (ISO/
FDIS 23150-1, A.2.24)
↪ Time stamp reference (ISO/FDIS 23150-1, A.2.24) Mandatory Profile: Observations (ISO/FDIS
a
23150-1, 6.5.8)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
↪ Observation status (ISO/FDIS 23150-1, A.2.25) Mandatory Profile: Observations (ISO/FDIS
a
23150-1, 6.5.8)
Redundancy (ISO/FDIS 23150-1,
B.1.3)
Signal: Feature ID (ISO/FDIS
23150-1, A.4.3) (if unique over
time), Time stamp – prediction
(ISO/FDIS 23150-1, A.1.6.1)
Optimise DE (ISO/FDIS 23150-1,
B.1.8)
Optimise EES (ISO/FDIS 23150-1,
B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/FDIS 23150-1, 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
The generic specification of the advanced detection interfaces is defined in ISO/FDIS 23150-1, Clause 9.
The camera advanced detection interface shall base on the generic sensor advanced detection interface as
specified in ISO/FDIS 23150-1, 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/FDIS 23150-1, Annex A. Furthermore, the generic
profiles as defined in 6.4 and in ISO/FDIS 23150-1 as well as the signal options defined in ISO/FDIS 23150-
1, Annex B shall also be considered. The CADI describes a two dimensional view on dynamic advanced
detections (see Figure 4).
ISO/FDIS 23150-13:2026(en)
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 inter-
interface patch} (ISO/FDIS 23150-1, A.1.2) face versioning (ISO/FDIS
23150-1, 6.5.1)
Interface ID (ISO/FDIS 23150-1, A.1.3) O Profile: Uniqueness of inter-
face versioning (ISO/FDIS
23150-1, 6.5.1)
Number of valid serving sensors (ISO/ M Profile: Uniqueness of inter-
FDIS 23150-1, A.1.4) face versioning (ISO/FDIS
23150-1, 6.5.1)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/FDIS
23150-1, B.1.7)
Key: Sensor ID (ISO/FDIS
23150-1, A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO/FDIS 23150-1, A.1.4)
Sensor ID (ISO/FDIS 23150-1, A.1.5) M Profile: Uniqueness of inter-
face versioning (ISO/FDIS
23150-1, 6.5.1)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
a
At least one of the signals "Object ID reference" (ISO/FDIS 23150-1, A.2.69), "Feature ID reference" (ISO/FDIS 23150-1,
A.2.70), "Detection ID reference" (ISO/FDIS 23150-1, A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

ISO/FDIS 23150-13:2026(en)
TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Time stamp – measurement (ISO/FDIS M
23150-1, A.1.6.2)
Cycle counter (ISO/FDIS 23150-1, O Redundancy (ISO/FDIS
A.1.7.1) 23150-1, B.1.3)
Signal: Time stamp – meas-
urement (ISO/FDIS 23150-1,
A.1.6.2)
Interface cycle time (ISO/FDIS 23150-1, O
A.1.8)
Interface cycle time – variation (ISO/ O
FDIS 23150-1, A.1.9)
Data qualifier (ISO/FDIS 23150-1, M Optimise DE (ISO/FDIS
A.1.10) 23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Advanced detections
Advanced de- M Recognised advanced detections – ca- O
tections pability (ISO/FDIS 23150-1, A.1.11.3)
information
Recognised advanced detections – sta- O Redundancy (ISO/FDIS
tus (ISO/FDIS 23150-1, A.1.12.3) 23150-1, B.1.3)
Signal: Recognised ad-
vanced detections – capa-
bility (ISO/FDIS 23150-1,
A.1.11.3)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Number of valid advanced detections M Optimise LL (ISO/FDIS
(ISO/FDIS 23150-1, A.1.13.3) 23150-1, B.1.2)
Optimize AER (ISO/FDIS
23150-1, B.1.5)
Size type: dynamic/fixed
Size #: Number of valid advanced detections (ISO/FDIS 23150-1, A.1.13.3)
↪ Status M Existence probability – advanced M
detection level (ISO/FDIS 23150-1,
A.5.2)
Advanced detection ID (ISO/FDIS M Alternative A2I (ISO/FDIS
23150-1, A.6.3) 23150-1, B.3.3)
Object ID reference (ISO/FDIS C (ISO/FDIS Alternative A2I (ISO/FDIS
23150-1, A.2.69) 23150-1, B.3.2) 23150-1, B.3.3)
Exist: OLI
Time stamp difference – advanced M Optimise IV (ISO/FDIS
detection level (ISO/FDIS 23150-1, 23150-1, B.1.6)
A.5.4)
Age (ISO/FDIS 23150-1, A.2.22) O Profile: Observations (ISO/
FDIS 23150-1, 6.5.8)
a
At least one of the signals "Object ID reference" (ISO/FDIS 23150-1, A.2.69), "Feature ID reference" (ISO/FDIS 23150-1,
A.2.70), "Detection ID reference" (ISO/FDIS 23150-1, A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

ISO/FDIS 23150-13:2026(en)
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/
FDIS 23150-1, A.2.23) FDIS 23150-1, 6.5.8)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/FDIS
23150-1, B.1.7)
Key: Time stamp reference
(ISO/FDIS 23150-1, A.2.24)
Size type: dynamic/fixed
Size #: Number of valid observations (ISO/FDIS 23150-1, A.2.23)
Time stamp reference (ISO/FDIS M Profile: Observations (ISO/
23150-1, A.2.24) FDIS 23150-1, 6.5.8)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Observation status (ISO/FDIS M Profile: Observations (ISO/
23150-1, A.2.25) FDIS 23150-1, 6.5.8)
Redundancy (ISO/FDIS
23150-1, B.1.3)
Signal: Object ID reference
(ISO/FDIS 23150-1, A.2.69),
Time stamp – prediction
(ISO/FDIS 23150-1, A.1.6.1)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
↪Information M Number of valid recognition classifi- M Profile: Recognition clas-
cations (ISO/FDIS 23150-1, A.2.61) sification type (ISO/FDIS
23150-1, 6.5.15)
Optimise LL (ISO/FDIS
23150-1, B.1.2)
Alternative UTL (ISO/FDIS
23150-1, B.1.7)
Key: Recognition classifica-
tion type (ISO/FDIS 23150-
1, A.2.62)
Size type: dynamic/fixed
Size #: Number of valid recognition classifications (ISO/FDIS 23150-1, A.2.61)
Recognition classification type M Profile: Recognition clas-
(ISO/FDIS 23150-1, A.2.62) sification type (ISO/FDIS
23150-1, 6.5.15)
Alternative VRO (ISO/FDIS
23150-1, B.1.4)
Optimise DE (ISO/FDIS
23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Recognition classification type M Profile: Recognition clas-
– confidence (ISO/FDIS 23150-1, sification type (ISO/FDIS
A.2.63) 23150-1, 6.5.15)
a
At least one of the signals "Object ID reference" (ISO/FDIS 23150-1, A.2.69), "Feature ID reference" (ISO/FDIS 23150-1,
A.2.70), "Detection ID reference" (ISO/FDIS 23150-1, A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

ISO/FDIS 23150-13:2026(en)
TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Generic visible view of advanced de- M Optimise DE (ISO/FDIS
tection (A.3.2) 23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
Classified view of advanced detection O Optimise DE (ISO/FDIS
(A.3.3) 23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, 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/
edge, azimuth right edge, azimuth FDIS 23150-1, 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/
edge to referenced recognition – FDIS 23150-1, B.4.2)
error (A.3.8)
Advanced detection bounding M Optimise DE (ISO/FDIS
box edge type reference (A.3.9) 23150-1, B.1.8)
Optimise EES (ISO/FDIS
23150-1, B.1.9)
a b
Object ID reference (ISO/FDIS C
23150-1, A.2.69)
a
Feature ID reference (ISO/FDIS C
23150-1, A.2.70)
a
Detection ID reference (ISO/ C
FDIS 23150-1, A.2.72)
↪ Dynamics O Advanced detection reference point M Redundancy (ISO/FDIS
in advanced detection view {u, v} 23150-1, B.1.3)
(A.3.10) Signal: Position {radial dis-
tance, azimuth, elevation}
(ISO/FDIS 23150-1, A.2.45)
a
At least one of the signals "Object ID reference" (ISO/FDIS 23150-1, A.2.69), "Feature ID reference" (ISO/FDIS 23150-1,
A.2.70), "Detection ID reference" (ISO/FDIS 23150-1, A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).

ISO/FDIS 23150-13:2026(en)
TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Advanced detection reference point M Redundancy (ISO/FDIS
in advanced detection view {u, v} – 23150-1, B.1.3)
error (A.3.11) Signal: Position {radial dis-
tance, azimuth, elevation}
– error (ISO/FDIS 23150-1,
A.2.46)
Implementation EM (ISO/
FDIS 23150-1, B.4.2)
Position {radial distance, azimuth, {O, M, M} Profile: Position {radial
elevation} (ISO/FDIS 23150-1, distance, azimuth, eleva-
A.2.45) tion} (ISO/FDIS 23150-1,
6.5.11.3)
Position {radial distance, azimuth, C Profile: Position {radial
elevation} – error (ISO/FDIS 23150- Analog: Position distance, azimuth, eleva-
1, A.2.46) {radial distance, tion} (ISO/FDIS 23150-1,
azimuth,
...

Formatted: French (Switzerland)
ISO/DISFDIS 23150-13
Formatted: French (Switzerland)
ISO/TC 22/SC 31
Secretariat: DIN
Date: 2025-11-252026-02-02
Road vehicles — Logical interface between sensors and data fusion
unit for automated driving functions —
Formatted: French (Switzerland)
Part 13:
Formatted: French (Switzerland)
Camera specific interfaces
Formatted: French (Switzerland)
Véhicules routiers — Interface logique entre capteurs et unité de fusion de données pour les fonctions de
conduite automatisée —
Partie 13: Interfaces spécifiques de caméra
Formatted: English (United States)
DISFDIS stage
Warning for WD’s and CD’s
This document is not an ISO International Standard. It is distributed for review and comment. It is subject to change
VVVVVVoooooottttttiiiiiing bng bng bng bng bng beeeeeegigigigigiginsnsnsnsnsns o o o o o on:n:n:n:n:n: 202 202 202 202 202 202555555------050505050505------141414141414
VoVoVoVoVoVotintintintintintingggggg t t t t t tererererererminminminminminminatatatatatateseseseseses o o o o o onnnnnn::::::   222222000000222222555555------000000888888------060606060606
without notice and may not be referred to as an International Standard.
Recipients of this draft are invited to submit, with their comments, notification of any relevant patent rights of which
they are aware and to provide supporting documentation.

ISO/DISFDIS 23150-13:20252026(en)
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: + 41 22 749 01 11
Formatted: French (Switzerland)
E-mail: [e-mail]
Website: www.iso.org
Published in Switzerland
iii
ISO/DISFDIS 23150-13:20252026(en)
Contents
Foreword . iv
Introduction . iv
Scope . iv
Normative references . iv
Terms and definitions . iv
Abbreviated terms . iv
Feature level . iv
Camera feature interface . iv
Camera feature header . iv
Camera feature entity . iv
Camera feature profiles . iv
Advanced detection level . iv
Camera advanced detection interface . iv
Camera advanced detection header . iv
Camera advanced detection entity . iv
Camera advanced detection profiles . iv
Detection level . iv
Camera detection interface . iv
Camera detection header . iv
Camera detection entity . iv
Camera detection profiles . iv
(normative) Camera interface signals . iv
Bibliography . iv
Foreword . vi
Introduction . vii
1 Scope . 1
2 Normative references . 2
3 Terms and definitions . 2
4 Abbreviated terms . 3
5 Feature level . 5
5.1 Camera feature interface . 5
5.2 Camera feature header . 10
5.3 Camera feature entity . 12
5.4 Camera feature profiles . 13
6 Advanced detection level . 14
6.1 Camera advanced detection interface . 14
6.2 Camera advanced detection header . 20
6.3 Camera advanced detection entity . 22
6.4 Camera advanced detection profiles . 22
7 Detection level . 22
7.1 Camera detection interface . 22
7.2 Camera detection header . 29
7.3 Camera detection entity . 30
iv
ISO/DISFDIS 23150-13:20252026(en)
7.4 Camera detection profiles. 31
Annex A (normative) Camera interface signals . 32
Bibliography . 47

v
ISO/DISFDIS 23150-13:20252026(en)
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
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http://www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 31, Data
communication.
This first edition of ISO 23150-13, together with ISO 23150-1, ISO 23150-2, ISO 23150-11, ISO 23150-12, 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
terms and definitions defined in ISO/DIS 23150-1ISO/FDIS 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.
vi
ISO/DISFDIS 23150-13:20252026(en)
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. The
[1]
interfaces are bases on the generic specifications of the interfaces in ISO/DIS 23150-1.ISO/FDIS 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/DIS 23150-2);ISO/FDIS 23150-2 );
vii
ISO/DISFDIS 23150-13:20252026(en)
— for additional interfaces as supportive sensor interfaces and sensor input information interfaces (see
[3]
ISO/DIS 23150-20).ISO/FDIS 23150-20 ).
This document is not intended to replace the logical interface specifications of other documents in the ISO
23150 series.
This document is based on the generic specifications in ISO/FDIS 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.

Key
scope of the document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150 series
viii
ISO/DISFDIS 23150-13:20252026(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 is based on the generic specifications in ISO/DIS 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.
ISO/DISFDIS 23150-13:20252026(en)

Key
scope of the document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150 series
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/DISFDIS 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/DISFDIS 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/
ISO/DISFDIS 23150-13:20252026(en)
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
ISO/DISFDIS 23150-13:20252026(en)
SSI supportive sensor interface
UTL unrolling tuple list
VRO value representation optimisation

ISO/DISFDIS 23150-13:20252026(en)
5 Feature level
5.1 Camera feature interface
The generic specification of the feature interfaces is defined in ISO/DISFDIS 23150-1, Clause 8. The camera
feature interface shall base on the generic sensor cluster feature interface as specified in ISO/DISFDIS 23150-
1, 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
Formatted Table
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/DISFDIS 23150-1, Annex A. Furthermore, the generic
profiles as defined in 5.4 and in ISO/DISFDIS 23150-1 as well as the signal options defined in ISO/DISFDIS
23150-1, Annex B shall also be considered.
Table 2 — Camera feature interface
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Information: M Interface version ID {major, minor, M Profile: Uniqueness of
Formatted Table
interface patch} (ISO/DISFDIS 23150-1, A.1.2) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Interface ID (ISO/DISFDIS 23150-1, O Profile: Uniqueness of
A.1.3) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Number of valid serving sensors M Profile: Uniqueness of
(ISO/DISFDIS 23150-1, A.1.4) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Optimise LL (ISO/DISFDIS
23150-1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-1,
B.1.7)
Key: Sensor ID
(ISO/DISFDIS 23150-1,
A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO/DISFDIS 23150-1, A.1.4)
Sensor ID (ISO/DISFDIS 23150-1, M Profile: Uniqueness of
A.1.5) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Alternative VRO
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
B.1.4)
ISO/DISFDIS 23150-13:20252026(en)
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Time stamp – prediction (ISO/DISFDIS M
23150-1, A.1.6.1)
Cycle counter (ISO/DISFDIS 23150-1, O Redundancy (ISO/DISFDIS
A.1.7.1) 23150-1, B.1.3)
Signal: Time stamp –
prediction (ISO/DISFDIS
23150-1, A.1.6.1)
Interface cycle time (ISO/DISFDIS O
Formatted Table
23150-1, A.1.8)
Interface cycle time – variation O
(ISO/DISFDIS 23150-1, A.1.9)
Data qualifier (ISO/DISFDIS 23150-1, M Optimise DE (ISO/DISFDIS
Formatted: French (Switzerland)
A.1.10) 23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
(ISO/DISFDIS 23150-1,
B.1.9)
Colour model type (ISO/DISFDIS M Profile: Colour model
Formatted: French (Switzerland)
23150-1, A.1.14) (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
6.5.2)
Formatted: French (Switzerland)
Alternative VRO
(ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
B.1.4)
Use enumeration to define
colours by defining colour
values and the applied
colour model for each
enumerator.
Optimise DE (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
(ISO/DISFDIS 23150-1,
B.1.9)
Features
Features M Recognised features – capability O
information (ISO/DISFDIS 23150-1, A.1.11.2)
Recognised features – status O Redundancy (ISO/DISFDIS
(ISO/DISFDIS 23150-1, A.1.12.2) 23150-1, B.1.3)
Signal: Recognised
features – capability
(ISO/DISFDIS 23150-1,
A.1.11.2)
Optimise DE (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
(ISO/DISFDIS 23150-1,
B.1.9)
Split Cells
Number of valid features (ISO/DISFDIS M Optimise LL (ISO/DISFDIS
Split Cells
23150-1, A.1.13.2) 23150-1, B.1.2)
Formatted: Table body
Formatted: Table body, Centered
ISO/DISFDIS 23150-13:20252026(en)
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Optimize AER
(ISO/DISFDIS 23150-1,
B.1.5)
Size type: dynamic/fixed
Formatted: Table body
Size #: Number of valid features (ISO/DISFDIS 23150-1, A.1.13.2)
Formatted: Table body, Centered
↪ Status M Existence probability – feature M
Merged Cells
level (ISO/DISFDIS 23150-1, A.4.2)
Merged Cells
Feature ID (ISO/DISFDIS 23150-1, C Alternative A2I
A.4.3) (ISO/DISFDIS (ISO/DISFDIS 23150-1, Formatted: Normal

23150-1, B.3.3)
Formatted: Normal, Left
B.3.2)
Exist: DLI Formatted: French (Switzerland)
Formatted: French (Switzerland)
Feature grouping ID (A.2.2) O
Formatted: Normal
Object ID reference (ISO/DISFDIS C Alternative A2I
23150-1, A.2.69) (ISO/DISFDIS (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
23150-1, B.3.3)
Formatted: French (Switzerland)
B.3.2)
Exist: OLI
Time stamp difference – feature M Optimise IV (ISO/DISFDIS
Split Cells
level (ISO/DISFDIS 23150-1, A.4.4) 23150-1, B.1.6)
Split Cells
Number of valid observations O Profile: Observations
Formatted: Table body
(ISO/DISFDIS 23150-1, A.2.23) (ISO/DISFDIS 23150-1,
a
6.5.8)
Formatted: Table body, Centered
Optimise LL (ISO/DISFDIS
23150-1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-1,
B.1.7)
Key: Time stamp reference
(ISO/DISFDIS 23150-1,
A.2.24)
Size type: dynamic/fixed
Merged Cells
Size #: Number of valid observations (ISO/DISFDIS 23150-1, A.2.23)
Merged Cells
Time stamp reference M Profile: Observations
Formatted: Table body
(ISO/DISFDIS 23150-1, A.2.24) (ISO/DISFDIS 23150-1,
a
6.5.8)
Formatted: Table body, Centered
Alternative VRO
Split Cells
(ISO/DISFDIS 23150-1,
Split Cells
B.1.4)
Formatted: Normal
Observation status M Profile: Observations
(ISO/DISFDIS 23150-1, A.2.25) (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
a
6.5.8)
Formatted: French (Switzerland)
Redundancy (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, B.1.3)
Signal: Feature ID
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1,
Formatted: Table body
A.4.3) (if unique over
time), Time stamp –
Formatted: Table body, Centered
prediction (ISO/DISFDIS
23150-1, A.1.6.1)
ISO/DISFDIS 23150-13:20252026(en)
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Optimise DE (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
(ISO/DISFDIS 23150-1,
B.1.9)
↪ Shape M Number of valid shape M Profile: Shape
information classifications (ISO/DISFDIS classification (ISO/DISFDIS
23150-1, A.2.26) 23150-1, 6.5.9)
Optimise LL (ISO/DISFDIS
23150-1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-1,
B.1.7)
Key: Shape classification
type (ISO/DISFDIS 23150-
1, A.2.27)
Size type: dynamic/fixed
Merged Cells
Size #: Number of valid shape classifications (ISO/DISFDIS 23150-1, A.2.26)
Merged Cells
Shape classification type M Profile: Shape
Formatted: Table body
(ISO/DISFDIS 23150-1, A.2.27) classification (ISO/DISFDIS
23150-1, 6.5.9)
Formatted: Table body, Centered
Alternative VRO
Split Cells
(ISO/DISFDIS 23150-1,
Split Cells
B.1.4)
Optimise DE (ISO/DISFDIS Formatted: Normal
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1,
B.1.9)
Formatted: French (Switzerland)
Shape classification type – M Profile: Shape
Formatted: French (Switzerland)
confidence (ISO/DISFDIS classification (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, A.2.28) 23150-1, 6.5.9)
Formatted: Table body
Alternative VRO
(ISO/DISFDIS 23150-1,
Formatted: Table body, Centered
B.1.4)
Formatted: French (Switzerland)
Optimise DE (ISO/DISFDIS
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1,
B.1.9)
↪ Shape M  Size type: dynamic/fixed
colour tone Size #
* Implicit list length – Optimise LL (ISO/DISFDIS 23150-1, B.1.2): depends on
Colour model type (ISO/DISFDIS 23150-1, A.1.14)
Colour value (ISO/DISFDIS M Profile: Colour model
Formatted: French (Switzerland)
23150-1, A.2.18) (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
6.5.2)
Colour tone – confidence O Profile: Colour model
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1, A.2.19) (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
6.5.2)
Formatted
...
Split Cells
...
ISO/DISFDIS 23150-13:20252026(en)
Split Cells
...
Formatted
...
Formatted
...
RL LSG RL signal
LSG Signal Option
Formatted
M/C/O M/C/O
...
Formatted
...
↪ Shape points M Shape type (ISO/DISFDIS 23150-1, M Profile: Shape type {x, y, z}
A.2.30) (ISO/DISFDIS 23150-1,
Merged Cells
...
b
6.5.10.2)
Merged Cells
...
Optimise DE (ISO/DISFDIS
Formatted
23150-1, B.1.8)
...
Optimise EES
Formatted
...
(ISO/DISFDIS 23150-1,
Split Cells
...
B.1.9)
Split Cells
...
Number of valid vertices M Profile: Shape type {x, y, z}
(ISO/DISFDIS 23150-1, A.2.31) (ISO/DISFDIS 23150-1, Formatted
...
b
6.5.10.2)
Formatted
...
Optimise LL (ISO/DISFDIS
Merged Cells
...
23150-1, B.1.2)
Merged Cells
...
Size type: dynamic/fixed
Size #: Number of valid vertices (ISO/DISFDIS 23150-1, A.2.31) Formatted
...
Vertex point {x,y,z} M Profile: Shape type {x, y, z} Formatted
...
(ISO/DISFDIS 23150-1, A.2.35) (ISO/DISFDIS 23150-1,
Formatted
...
b
6.5.10.2)
Split Cells
...
Vertex point {x,y,z} – error M Profile: Shape type {x, y, z}
Split Cells
(ISO/DISFDIS 23150-1, A.2.36) (ISO/DISFDIS 23150-1,
...
b
6.5.10.2)
Formatted
...
Implementation EM
Formatted
...
(ISO/DISFDIS 23150-1,
B.4.2)
Formatted
...
Formatted
Vertex point {x,y,z} – O Profile: Shape type {x, y, z}
...
confidence (ISO/DISFDIS (ISO/DISFDIS 23150-1,
Split Cells
...
b
23150-1, A.2.37) 6.5.10.2)
Split Cells
...
↪ Shape O Number of valid shape reference M Optimise LL (ISO/DISFDIS
Formatted
reference points – feature level (A.2.3) 23150-1, B.1.2) .
points
Formatted
Size type: dynamic/fixed .
Size #: Number of valid shape reference points – feature level (A.2.3)
Formatted
...
Position {x, y, z} (ISO/DISFDIS M Profile: Position {x, y, z}
Formatted
...
23150-1, A.2.43) (ISO/DISFDIS 23150-1,
Formatted
...
6.5.11.2)
Formatted
...
Position {x, y, z} – error M Profile: Position {x, y, z}
(ISO/DISFDIS 23150-1, A.2.44) (ISO/DISFDIS 23150-1, Merged Cells
...
6.5.11.2)
Merged Cells
...
Implementation EM
Formatted
...
(ISO/DISFDIS 23150-1,
B.4.2)
Formatted
...
Point existence probability – M
Formatted
...
feature level (A.2.4)
Split Cells
...
Shape surface normal {x, y, z} O
Split Cells
...
(A.2.5)
Formatted
...
Shape surface normal {x, y, z} – O Implementation EM
Formatted
error (A.2.6) (ISO/DISFDIS 23150-1,
...
B.4.2)
Formatted
...
Formatted
...
Field Code Changed
...
Formatted
...
ISO/DISFDIS 23150-13:20252026(en)
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Translation rate {x, y, z} M Profile: Translation rate
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1, A.2.49) {x,y,z} (ISO/DISFDIS
23150-1, 6.5.12.2)
Translation rate {x, y, z} – error M Profile: Translation rate
(ISO/DISFDIS 23150-1, A.2.50) {x,y,z} (ISO/DISFDIS
23150-1, 6.5.12.2)
Implementation EM
(ISO/DISFDIS 23150-1,
B.4.2)
Rotation rate {yaw, pitch, roll} O
(A.2.7)
Rotation rate {yaw, pitch, roll} – O Implementation EM
Formatted: French (Switzerland)
error (A.2.8) (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
B.4.2)
DEPRECATED: Scale change – O
feature level (A.2.9)
DEPRECATED: Scale change – O Implementation EM
Formatted: French (Switzerland)
feature level – error (A.2.10) (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
B.4.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/DISFDIS 23150-1, A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
"Polyline interpolation method" (ISO/DISFDIS 23150-1, A.2.29) always has the mandatory enumeration "PIM_Linear". The profile
does not provide the signal "Polyline interpolation method" (ISO/DISFDIS 23150-1, A.2.29) explicitly. Camera features are
described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO/DISFDIS 23150-1, 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/DISFDIS 23150-1, 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
(ISO/DISFDIS 23150-1, A.1.2) (ISO/DISFDIS 23150-1, 6.5.1)
Interface ID (ISO/DISFDIS 23150-1, A.1.3) Optional Profile: Uniqueness of interface versioning
(ISO/DISFDIS 23150-1, 6.5.1)
Number of valid serving sensors Mandatory Profile: Uniqueness of interface versioning
(ISO/DISFDIS 23150-1, A.1.4) (ISO/DISFDIS 23150-1, 6.5.1)
Optimise LL (ISO/DISFDIS 23150-1, B.1.2)
Alternative UTL (ISO/DISFDIS 23150-1,
B.1.7)
Key: Sensor ID (ISO/DISFDIS 23150-1, A.1.5)
↪ Sensor ID (ISO/DISFDIS 23150-1, A.1.5) Mandatory Profile: Uniqueness of interface versioning
(ISO/DISFDIS 23150-1, 6.5.1)
ISO/DISFDIS 23150-13:20252026(en)
Signal RL signal Option
Alternative VRO (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
B.1.4)
Formatted: French (Switzerland)
Time stamp – prediction (ISO/DISFDIS Mandatory
23150-1, A.1.6.1)
Cycle counter (ISO/DISFDIS 23150-1, Optional Redundancy (ISO/DISFDIS 23150-1, B.1.3)
A.1.7.1) Signal: Time stamp – prediction
(ISO/DISFDIS 23150-1, A.1.6.1)
Interface cycle time (ISO/DISFDIS 23150-1, Optional
A.1.8)
Interface cycle time – variation (ISO/DISFDIS Optional
23150-1, A.1.9)
Data qualifier (ISO/DISFDIS 23150-1, A.1.10) Mandatory Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
Formatted: French (Switzerland)
Colour model type (ISO/DISFDIS 23150-1, Mandatory Profile: Colour model (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
A.1.14) 6.5.2)
Formatted: French (Switzerland)
Alternative VRO (ISO/DISFDIS 23150-1,
B.1.4) Formatted: French (Switzerland)
Use enumeration to define colours by
Formatted: French (Switzerland)
defining colour values and the applied colour
model for each enumerator.
Formatted Table
Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
Formatted: French (Switzerland)
a
...  Need of logical signal group (ISO/DISFDIS
23150-1, B.3.4)
Profile: Vehicle coordinate system
(ISO/DISFDIS 23150-1, 6.5.4)
Profile: Sensor pose (ISO/DISFDIS 23150-1,
6.5.5)
Profile: Calibration (ISO/DISFDIS 23150-1,
6.5.6)
Profile: Sensor cluster (ISO/DISFDIS 23150-
1, 6.5.7)
Features
Recognised features – capability Optional
(ISO/DISFDIS 23150-1, A.1.11.2)
Recognised features – status (ISO/DISFDIS Optional Redundancy (ISO/DISFDIS 23150-1, B.1.3)
23150-1, A.1.12.2) Signal: Recognised features – capability
(ISO/DISFDIS 23150-1, A.1.11.2)
Optimise DE (ISO/DISFDIS 23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES (ISO/DISFDIS 23150-1, B.1.9)
Formatted: French (Switzerland)
Number of valid features (ISO/DISFDIS Mandatory Optimise LL (ISO/DISFDIS 23150-1, B.1.2)
23150-1, A.1.13.2)
Optimize AER (ISO/DISFDIS 23150-1, B.1.5)
↪ Feature entities
a [1]
Further signals of "Need of logical signal group" (ISO/DIS 23150-1,(ISO/FDIS 23150-1 , B.3.4) profiles may be added to this
header (see cell options).
ISO/DISFDIS 23150-13:20252026(en)
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/DISFDIS 23150-1, 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
ISO/DISFDIS 23150-13:20252026(en)
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/DISFDIS Mandatory
23150-1, A.4.2)
Feature ID (ISO/DISFDIS 23150-1, A.4.3) Conditional Alternative A2I (ISO/DISFDIS
(ISO/DISFDIS 23150-1, B.3.3)
23150-1, B.3.2)
Exist: DLI
Feature grouping ID (A.2.2) Optional
Formatted Table
Object ID reference (ISO/DISFDIS 23150-1, A.2.69) Conditional Alternative A2I (ISO/DISFDIS
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1, B.3.3)
Formatted: French (Switzerland)
23150-1, B.3.2)
Exist: OLI
Time stamp difference – feature level (ISO/DISFDIS Mandatory Optimise IV (ISO/DISFDIS
23150-1, A.4.4) 23150-1, B.1.6)
Number of valid observations (ISO/DISFDIS 23150-1, Optional Profile: Observations
a
A.2.23) (ISO/DISFDIS 23150-1, 6.5.8)
Optimise LL (ISO/DISFDIS
23150-1, B.1.2)
Alternative UTL (ISO/DISFDIS
23150-1, B.1.7)
Key: Time stamp reference
(ISO/DISFDIS 23150-1, A.2.24)
↪ Time stamp reference (ISO/DISFDIS 23150-1, A.2.24) Mandatory Profile: Observations
Formatted: French (Switzerland)
a
(ISO/DISFDIS 23150-1, 6.5.8)
Formatted: French (Switzerland)
Alternative VRO (ISO/DISFDIS
23150-1, B.1.4) Formatted: French (Switzerland)
↪ Observation status (ISO/DISFDIS 23150-1, A.2.25) Mandatory Profile: Observations
a
(ISO/DISFDIS 23150-1, 6.5.8)
Redundancy (ISO/DISFDIS
23150-1, B.1.3)
Signal: Feature ID (ISO/DISFDIS
23150-1, A.4.3) (if unique over
time), Time stamp – prediction
(ISO/DISFDIS 23150-1, A.1.6.1)
Optimise DE (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES (ISO/DISFDIS
23150-1, B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
profile does not provide the signal "Age" (ISO/DISFDIS 23150-1, A.2.22) on FLI.
5.4 Camera feature profiles
For CFI, no specific profiles are defined.
ISO/DISFDIS 23150-13:20252026(en)
6 Advanced detection level
6.1 Camera advanced detection interface
The generic specification of the advanced detection interfaces is defined in ISO/DISFDIS 23150-1, Clause 9.
The camera advanced detection interface shall base on the generic sensor advanced detection interface as
specified in ISO/DISFDIS 23150-1, 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
Formatted Table
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/DISFDIS 23150-1, Annex A. Furthermore, the generic
profiles as defined in 6.4 and in ISO/DISFDIS 23150-1 as well as the signal options defined in ISO/DISFDIS
23150-1, Annex B shall also be considered. The CADI describes a two dimensional view on dynamic advanced
detections (see Figure 4).
ISO/DISFDIS 23150-13:20252026(en)

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
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Information: M Interface version ID {major, minor, M Profile: Uniqueness of
Formatted Table
interface patch} (ISO/DISFDIS 23150-1, A.1.2) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
ISO/DISFDIS 23150-13:20252026(en)
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
Interface ID (ISO/DISFDIS 23150-1, O Profile: Uniqueness of
A.1.3) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Number of valid serving sensors M Profile: Uniqueness of
(ISO/DISFDIS 23150-1, A.1.4) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Optimise LL (ISO/DISFDIS
23150-1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-1,
B.1.7)
Key: Sensor ID
(ISO/DISFDIS 23150-1,
A.1.5)
Size type: dynamic/fixed
Size #: Number of valid serving sensors (ISO/DISFDIS 23150-1, A.1.4)
Sensor ID (ISO/DISFDIS 23150-1, M Profile: Uniqueness of
A.1.5) interface versioning
(ISO/DISFDIS 23150-1,
6.5.1)
Alternative VRO
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
B.1.4)
Time stamp – measurement M
Formatted: French (Switzerland)
(ISO/DISFDIS 23150-1, A.1.6.2)
Formatted Table
Cycle counter (ISO/DISFDIS 23150-1, O Redundancy (ISO/DISFDIS
A.1.7.1) 23150-1, B.1.3)
Signal: Time stamp –
measurement
(ISO/DISFDIS 23150-1,
A.1.6.2)
Interface cycle time (ISO/DISFDIS O
23150-1, A.1.8)
Interface cycle time – variation O
Merged Cells
(ISO/DISFDIS 23150-1, A.1.9)
Merged Cells
Data qualifier (ISO/DISFDIS 23150-1, M Optimise DE (ISO/DISFDIS
Formatted: Table body
A.1.10) 23150-1, B.1.8)
Formatted: Table body, Centered
Optimise EES
(ISO/DISFDIS 23150-1,
Split Cells
B.1.9)
Split Cells
Advanced detections
Formatted: Normal
Advanced M Recognised advanced detections – O
Formatted Table
detections capability (ISO/DISFDIS 23150-1,
information A.1.11.3) Formatted: French (Switzerland)
Recognised advanced detections – O Redundancy (ISO/DISFDIS Formatted: French (Switzerland)
status (ISO/DISFDIS 23150-1, 23150-1, B.1.3)
Formatted Table
A.1.12.3) Signal: Recognised
ISO/DISFDIS 23150-13:20252026(en)
RL LSG RL signal
Formatted: Spanish (Uruguay)
LSG Signal Option
M/C/O M/C/O
advanced detections –
capability (ISO/DISFDIS
23150-1, A.1.11.3)
Optimise DE (ISO/DISFDIS
Formatted: French (Switzerland)
23150-1, B.1.8)
Formatted: French (Switzerland)
Optimise EES
(ISO/DISFDIS 23150-1,
B.1.9)
Number of valid advanced detections M Optimise LL (ISO/DISFDIS
Split Cells
(ISO/DISFDIS 23150-1, A.1.13.3) 23150-1, B.1.2)
Split Cells
Optimize AER
Formatted: Table body
(ISO/DISFDIS 23150-1,
B.1.5)
Formatted: Table body, Centered
Size type: dynamic/fixed
Formatted: Table body
Size #: Number of valid advanced detections (ISO/DISFDIS 23150-1, A.1.13.3)
Formatted: Table body, Centered
↪ Status M Existence probability – advanced M
detection level (ISO/DISFDIS
23150-1, A.5.2)
Advanced detection ID M Alternative A2I
(ISO/DISFDIS 23150-1, A.6.3) (ISO/DISFDIS 23150-1,
B.3.3)
Object ID reference (ISO/DISFDIS C Alternative A2I
Formatted: French (Switzerland)
23150-1, A.2.69) (ISO/DISFDIS (ISO/DISFDIS 23150-1,
Formatted: French (Switzerland)
23150-1, B.3.3)
B.3.2)
Exist: OLI
Time stamp difference – advanced M Optimise IV (ISO/DISFDIS
detection level (ISO/DISFDIS 23150-1, B.1.6)
23150-1, A.5.4)
Age (ISO/DISFDIS 23150-1, A.2.22) O Profile: Observations
(ISO/DISFDIS 23150-1,
6.5.8)
Number of valid observations O Profile: Observations
(ISO/DISFDIS 23150-1, A.2.23) (ISO/DISFDIS 23150-1,
6.5.8)
Optimise LL (ISO/DISFDIS
23150-1, B.1.2)
Alternative UTL
(ISO/DISFDIS 23150-1,
B.1.7)
Key: Time stamp reference
(ISO/DISFDIS 23150-1,
A.2.24)
Merged C
...