ISO 23150-12:2026

• Abstract:

  This document is applicable to road vehicles with automated driving (AD) functions and specifies the technology-specific logical interfaces for lidar sensors or sensor clusters: feature level interface (FLI); advanced detection level interface (ADLI); detection level interface (DLI). 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 23150-12:2026 defines the logical interface requirements for lidar sensors or sensor clusters used in automated driving (AD) functions in road vehicles. This standard specifically addresses the technology-specific logical interfaces for lidar, focusing on the detection level interface (DLI), as well as supporting the integration of lidar data into data fusion units. Importantly, this document does not address electrical or mechanical interfaces, nor does it include raw data interface specifications.

Developed by the International Organization for Standardization (ISO), ISO 23150-12:2026 belongs to the broader ISO 23150 series, which covers logical interfaces between various automotive sensor technologies and data fusion units. The document ensures semantic compatibility and modular integration of lidar-based perception in automated driving functions, enabling reliable environmental modelling and scene interpretation.

Key Topics

• Scope of Application

  • Road vehicles with automated driving (AD) functions leveraging lidar sensors or sensor clusters.
  • Interface definitions at the detection level, describing logical and semantic requirements for transmitting detection results from lidar sensors to data fusion units.

• Interface Levels

  • Feature Level Interface (FLI): Not defined for lidar in this document.
  • Advanced Detection Level Interface (ADLI): Not defined for lidar in this document.
  • Detection Level Interface (DLI): Main focus, defines how detection data is structured and communicated.

• Lidar Detection Interface Structure

  • Logical structure includes detection headers, detection entities, and profiles for organizing detection data.
  • Specifies key detection attributes such as existence probability, measurement time stamps, and positional data (radial distance, azimuth, elevation).

• Signal Groupings

  • Lidar detection entity data includes:
    • Status: General detection information.
    • Information: Lidar-specific detection aspects, e.g., reflectivity.
    • Position: Detection coordinates in the sensor’s frame.
    • Dynamics: Relative velocity and movement data.

• Profile and Optimization Options

  • Encourages optimization and extension through profiles for versioning, redundancy, and configuration of signal representation levels.

Applications

• Automated Driving Systems Integration

  • Standardizes the logical interface for lidar-equipped road vehicles, facilitating consistent integration of lidar-based detections into AD data fusion modules.
  • Enables interoperability of different equipment manufacturers’ lidar solutions within the same AD systems, reducing integration complexity.

• Data Fusion and Environmental Perception

  • Improves quality and reliability of environmental scene modeling by ensuring lidar detections are semantically well-defined and appropriately time-stamped.
  • Supports robust AD features such as object detection, free-space estimation, and obstacle avoidance.

• Future-Proofing AD Deployments

  • Provides a consistent, modular foundation for evolving sensor architectures in automated vehicles.
  • Enables easier system updates and component replacement due to standardized logical interface definitions.

Related Standards

ISO 23150-12:2026 is part of the ISO 23150 series, which addresses logical sensor interfaces for automated driving. Key related standards include:

• ISO 23150-1: General information and principles for logical interfaces between sensors and data fusion units.
• ISO 23150-2: Object level interfaces for sensors in automated driving.
• ISO 23150-11: Radar-specific interfaces.
• ISO 23150-13: Camera-specific interfaces.
• ISO 23150-14: Ultrasonic sensor interfaces.
• ISO 23150-15: Microphone-specific interfaces.
• ISO 23150-20: Supportive and sensor input interfaces.

Referencing these standards ensures a comprehensive platform for the integration of diverse sensing modalities in automated driving technology.

Keywords: ISO 23150-12:2026, lidar interface, automated driving, data fusion, road vehicles, logical interface, detection level interface, sensor integration, environmental perception, AD functions, sensor clusters, ISO standards.

International
Standard
ISO 23150-12
First edition
Road vehicles — Logical interface
2026-06
between sensors and data fusion
unit for automated driving
functions —
Part 12:
Lidar specific interfaces
Véhicules routiers — Interface logique entre capteurs et unité de
fusion de données pour les fonctions de conduite automatisée —
Partie 12: Interfaces spécifiques de Lidar
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 . 1
5 Feature level . 2
6 Advanced detection level . 3
7 Detection level . 3
7.1 Lidar detection interface .3
7.2 Lidar detection header .6
7.3 Lidar detection entity .7
7.4 Lidar detection profiles .7
Annex A (normative) Lidar interface signals . 8
Bibliography .10

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 documents 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 23150-12, together with ISO 23150-1 , ISO 23150-2 , ISO 23150-11 , ISO 23150-13
[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:
— reorganization 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 separate documents; in this document, specific collection of all
technology-specific interfaces for lidar;
— revision of the logical interfaces.
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 at 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 for 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
[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 this document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150
series
This document specifies technology-specific interfaces for lidar sensors as well as sensor clusters. The
[1]
interfaces are based 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 lidar sensor or sensor cluster may also implement (provide or receive) logical interfaces:
[2]
— on object level (see ISO 23150-2 );
— for additional interfaces such as supportive sensor interfaces and sensor input information interfaces
[7]
(see ISO 23150-20 ).
This document is not intended to replace the logical interface specifications of other documents in the
ISO 23150 series.
vi
International Standard ISO 23150-12:2026(en)
Road vehicles — Logical interface between sensors and data
fusion unit for automated driving functions —
Part 12:
Lidar specific interfaces
1 Scope
This document is applicable to road vehicles with automated driving (AD) functions and specifies the
technology-specific logical interfaces for lidar sensors or sensor clusters:
— feature level interface (FLI);
— advanced detection level interface (ADLI);
— detection level interface (DLI).
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, Road vehicles — Logical interface between sensors and data fusion unit for automated driving
functions — Part 1: General information and principles
ISO 23150-1:2026, 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 http:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
4 Abbreviated terms
[1]
For the purposes of this document, the abbreviated terms given in ISO 23150-1 and the following apply.

A2I assign to interface
AD automated driving
ADLI advanced detection level interface
AER alternative entity representation
C conditional
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
LDI lidar detection interface
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
There is no FLI defined for lidar sensors or sensor clusters.

6 Advanced detection level
There is no ADLI defined for lidar sensors or sensor clusters.
7 Detection level
7.1 Lidar detection interface
[8]
The generic specification of the DLIs is defined in ISO 23150-1:2026 , Clause 10. The LDI shall be based on
the generic sensor detection interface as specified in ISO 23150-1:2026, 10.2. Table 1 provides the logical
structure of the LDI.
Table 1 — Lidar detection interface structure
Structure Multiplicity Option
Lidar detection header (7.2) 1
Detections Multiple Size type:
dynamic/fixed
The logical structure of the LDI 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 7.4 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 — Lidar 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 in-
[8]
23150-1:2026 , A.1.4) terface versioning ISO (ISO
[8]
23150-1:2026 , 6.5.1)
Optimise LL (ISO 2315
...