ISO INTERNATIONAL STANDARD 23150 Second edition 2023-05 Road vehicles Data communication between sensors and data fusion unit for automated driving functions Logical interface Vehicules routiers - Communication de données entre capteurs et unité de fusion de données pour les fonctions de conduite automatisée -Interface logique Reference number ISO 23150:2023(E) Tso @ IS0 2023 ISO 23150:2023(E) COPYRIGHT PROTECTED DOCUMENT @IS02023 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 or IsoO'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 Email: [email protected] Website: www.iso.org Published in Switzerland ii @ IS0 2023 - All rights reserved IS0 23150:2023(E) @ Contents Page Foreword... vi Introduction .viii 1 Scope. 2 Normative references.. 3 Terms and definitions... 3.1 Architectural components... 3.2 Terms for logical interface layers.... 3.3 Structure terms.. 3.4 Measurement terms... 3.5 Requirement level terms .... 3.6 Road user relevant entity types .. 3.7 Axisandcoordinatesystemterms..... 4 Abbreviated terms . 5 16 5.1 General. 16 5.2 Signal.. 5.3 Interface 5.4 Specific signal grouping... 18 5.5 Profile ... 19 6 Logical interface from a sensor as well as a sensor cluster to a fusion unit. .19 6.1 General ..... 19 6.2 Generic interface header.... 22 6.3 Generic interface entity... 22 6.4 Profile: Uniqueness of interface versioning.... 23 7 Object level. 23 7.1 General .... 23 7.2 7.2.1 Genericobjectlevelheader. 24 7.2.2 Generic object level entity... 25 7.3 Potentially moving object interface. 7.3.1 Potentially moving object header..... 7.3.2 Potentially moving object entity.... 7.3.3 Profile. Motion type .. 7.3.4 Profile:Motionstatevector 7.4 Road object interface .. 38 7.4.1 Road object header .... 7.4.2 7.4.3 Profile: Colour modelforRDOl.... 53 7.5 Static object interface.... .53 7.5.1 Static object header .... 7.5.2 Static object entity.. .83 7.5.3 Profile: Colour model for Sol... 91 7.5.4 Profile: Detection references for 3D detections.... .91 7.6 Free space area object interface .. 94 7.6.1 Free space area object header ... 99 7.6.2 Free space area object entity.... 100 @ IS0 2023 - All rights reserved iii IS0 23150:2023(E) 8 Feature level . ..101 8.1 8.2 Generic sensor cluster feature interface... 102 8.2.1 Generic sensor cluster feature header... .102 8.2.2 8.3 Camera feature interface..... 103 8.3.1 Camera feature header .. .107 8.3.2 8.3.3 Profile: Colour model for CFI .. 109 8.4 Ultrasonic feature interface ... .110 8.4.1 8.4.2 9 Detection level..... 9.1 9.2 Generic sensor detection interface... .115 9.2.1 Generic sensor detections header.... 9.2.2 9.3 Radar detection interface ... .117 9.3.1 Radar detections header .. 9.3.2 9.3.3 Profile: Radar ambiguity .. .121 9.4 Lidar detection interface.. ...121 9.4.1 Lidar detection header.... 9.4.2 Lidar detection entity... .125 9.5 Camera detection interface .. ..125 9.5.1 9.5.2 Camera detection entity.. ..131 9.5.3 Profile:ColourmodelforCDl... .132 9.6 Ultrasonic detection interface. 9.6.1 Ultrasonic detection header... .135 9.6.2 Ultrasonic detection entity .. .136 9.6.3 10 Supportive sensor interfaces. ...139 10.1 10.2 Generic supportive sensor interface.... .140 10.2.1 Generic supportive sensor header... .140 10.2.2 10.3 Sensor performance interface. 141 10.3.1 Sensor performance header... ..145 10.3.2 Sensor performance entity.... 10.3.3 Profile: Uniqueness of interface versioning of SPIs... 147 10.4 Sensor health information interface... ..147 10.4.1 10.4.2 Sensor health information entity... 151 11 Sensor input interface .... 11.1 11.2 Generic sensor input interface... ..151 11.2.1 Generic sensor inputs header... ..151 11.2.2 11.2.3 Profile: Uniqueness of inter