ISO 23150:2021

Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface

Table of contents

Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
3.1 Architectural components
3.2 Level of detail terms
3.3 Structure terms
3.4 Measurement terms
3.5 Requirement level terms
3.6 Road user relevant entity types
3.7 Axis and coordinate system terms
4 Abbreviated term
s5 Structure of the interface description
5.1 General
5.2 Signal
5.3 Interface
5.4 Specific signal grouping
5.5 Profile
6 Logical interface from a sensor as well as a sensor cluster to a fusion unit
6.1 General
6.2 Generic interface header
6.3 Generic interface entity
6.4 Profile: Uniqueness of interface versioning
7 Object level
7.1 General
7.2 Generic object level interface
7.3 Potentially moving object interface
7.4 Road object interface
7.5 Static object interface
8 Feature level
8.1 General
8.2 Generic sensor cluster feature interface
8.3 Camera feature interface
8.4 Ultrasonic feature interface
Figures
Tables

3 Terms and definitions

For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https://www.iso.org/obp
— IEC Electropedia: available at http://www.electropedia.org/

3.1 Architectural components

3.1.1 fusion

act of uniting signals (3.3.1) from two or more sensors (3.1.5) as well as sensor clusters (3.1.6) to create a surround model (3.1.7)

3.1.2 fusion unit

computing unit where the fusion (3.1.1) of sensor (3.1.5) data as well as a sensor cluster (3.1.6) data is performed

3.1.3 interface

shared boundary between two functional units, defined by various characteristics pertaining to the functions, physical interconnections, signal (3.3.1) exchanges and other characteristics of the units, as appropriate
[SOURCE:ISO/IEC 2382:2015, 2124351, modified — Notes to entry have been removed.]

3.1.4 logical interface

interface (3.1.3) between a sensor (3.1.5) as well as a sensor cluster (3.1.6) and the fusion unit (3.1.2), defined by logical characteristics
Note 1 to entry: Logical means a semantic description of the interface.
Note 2 to entry: Mechanical and electrical interfaces are excluded.
Note 3 to entry: This document uses the term interface as a shortcut for the term logical interfaces.

3.1.5 sensor

in-vehicle unit which detects entities external of the vehicle with preprocessing capabilities serving at least one logical interface (3.1.4)
Note 1 to entry: A sensor may use one or more sensing elements.

3.1.6 sensor cluster

group of sensors (3.1.5) of the same technology serving a common logical interface (3.1.4)
Note 1 to entry: A sensor cluster can exceptionally consist of only one sensor.
EXAMPLE:A stereo camera, a surround-view camera, an ultrasonic sensor array, a corner radar system.

3.1.7 surround model

representation of the real world adjacent to the ego-vehicle

3.2 Level of detail terms

3.2.1 detection

sensor technology specific entity represented in the sensor coordinate system (3.7.18) based on a single measurement (3.4.1) of a sensor (3.1.5)
Note 1 to entry: A small amount of history can be used for some detection signals (3.3.1), for example, model-free filtering may be used in track-before-detect algorithms.

3.2.2 detection level

set of logical interfaces (3.1.4) that provides detections (3.2.1)

3.2.3 feature

sensor technology specific entity represented in the vehicle coordinate system (3.7.16) based on multiple measurements (3.4.1)
Note 1 to entry: Multiple measurements can originate from a sensor cluster (3.1.6).
Note 2 to entry: Multiple measurements can originate from multiple measurement cycles (3.4.2).
Note 3 to entry: The term feature is used in this document not as function or group of functions as specified in ISO/SAE PAS 227361.

3.2.4 feature level

set of logical interfaces (3.1.4) that provides features (3.2.3)

3.2.5

object
representation of a real-world entity with defined boundaries and characteristics in the vehicle coordinate system (3.7.16)
Note 1 to entry: The geometric description of the object is in the vehicle coordinate system.
Note 2 to entry: Object signals (3.3.1) are basically sensor technology independent. Sensor technology specific signals may extend the object signals.
EXAMPLE:A potentially moving object (3.6.1), a road object (3.6.2), a static object (3.6.3).

3.2.6 object level

set of logical interfaces (3.1.4) that provides objects (3.2.5)

3.3 Structure terms

3.3.1 signal

entity consisting of one or more values and which is part of a logical interface (3.1.4)

3.3.2 logical signal group

grouping of signals (3.3.1) that has a logical relationship and a name for the grouping

3.3.3 classification

attribute-based differentiation
Note 1 to entry: An attribute is defined by a list of enumerators.

3.4 Measurement terms

3.4.1 measurement

measuring and processing result of a measurement cycle (3.4.2)

3.4.2 measurement cycle

time period from the start of a data acquisition event to the start of the next data acquisition event
Note 1 to entry: A measurement cycle of one sensor (3.1.5) is a consistent view of an observed scene and not overlapping in time.

3.4.3 accuracy

closeness of agreement between a measured quantity value and a true quantity value
Note 1 to entry: The concept accuracy is not a quantity and is not given a numerical quantity value. A measurement (3.4.1) is said to be more accurate when it offers a smaller error (3.4.6).
Note 2 to entry: The term accuracy should not be used for trueness (3.4.4) and the term precision (3.4.5) should not be used for accuracy, which, however, is related to both these concepts.
Note 3 to entry: Accuracy is sometimes understood as closeness of agreement between measured quantity values that are being attributed to the measurand.
[SOURCE:ISO/IEC Guide 99:2007, 2.13, modified — The terms "measurement accuracy" and "accuracy of measurement" were deleted and the Notes to entry have been adapted.]

3.4.4 trueness

closeness of agreement between the average of an infinite number of replicated measured quantity values and a reference quantity value
Note 1 to entry: Trueness is not a quantity and thus cannot be expressed numerically, but measures for closeness of agreement are given in the ISO 5725 series.
Note 2 to entry: Trueness is inversely related to systematic error, but is not related to random error.
Note 3 to entry: The term accuracy (3.4.3) should not be used for trueness.
[SOURCE:ISO/IEC Guide 99:2007, 2.14, modified — The terms "measurement trueness" and "trueness of measurement" were deleted and the Notes to entry have been adapted.]

3.4.5 precision

closeness of agreement between indications or measured quantity values obtained by replicate measurements (3.4.1) on the same or similar measurands under specified conditions
Note 1 to entry: Precision is usually expressed numerically by measures of imprecision, such as standard deviation, variance, or coefficient of variation under the specified conditions of measurement.
Note 2 to entry: The specified conditions can be, for example, repeatability conditions of measurement, intermediate precision conditions of measurement, or reproducibility conditions of measurement (see ISO 5725-1:1994).
Note 3 to entry: Precision is used to define measurement repeatability, intermediate measurement precision and measurement reproducibility.
Note 4 to entry: Sometimes precision is erroneously used to mean accuracy (3.4.3).
Note 5 to entry: Precision is inversely related to random error, but is not related to systematic error.
[SOURCE:ISO/IEC Guide 99:2007, 2.15, modified — The term "measurement precision" was deleted, the word “objects” was replaced by “measurands”, the Notes to entry have been adapted and Note 5 to entry has been added.]

3.4.6 error

measured quantity value minus a reference quantity value
Note 1 to entry: The concept of error can be used both:
Note 2 to entry: a) when there is a single reference quantity value to refer to, which occurs if a calibration is made by means of a measurement standard with a measured quantity value having a negligible measurement uncertainty or if a conventional quantity value is given, in which case the error is known, and
Note 3 to entry: b) if a measurand is supposed to be represented by a unique true quantity value or a set of true quantity values of negligible range, in which case the error is not known.
Note 4 to entry: Error should not be confused with production error or mistake.
[SOURCE:ISO/IEC Guide 99:2007, 2.16, modified — The terms "measurement error" and "error of measurement" were deleted and the Notes to entry have been adapted.]

3.5 Requirement level terms

3.5.1 conditional

required under certain specified conditions
Note 1 to entry: One of three obligation statuses applied to a requirement level (3.5.4) of a logical interface (3.1.4) specification, indicating the conditions under which the signal (3.3.1) or logical signal group (3.3.2) is required. In other cases, the signal or logical signal group is optional. See also mandatory (3.5.2) and optional (3.5.3).
[SOURCE:ISO/IEC 11179-3:2013, 3.2.22, modified — Notes to entry have been adapted.]

3.5.2 mandatory

always required
Note 1 to entry: One of three obligation statuses applied to a requirement level (3.5.4) of a logical interface (3.1.4) specification, indicating the conditions under which the signal (3.3.1) or logical signal group (3.3.2) is required. See also conditional (3.5.1) and optional (3.5.3).
[SOURCE:ISO/IEC 11179-3:2013, 3.2.71, modified — Notes to entry have been adapted.]

3.5.3 optional

permitted but not required
Note 1 to entry: One of three obligation statuses applied to a requirement level (3.5.4) of a logical interface (3.1.4) specification, indicating the conditions under which the signal (3.3.1) or logical signal group (3.3.2) is required. See also conditional (3.5.1) and mandatory (3.5.2).
[SOURCE:ISO/IEC 11179-3:2013, 3.2.89, modified — Notes to entry have been adapted.]

3.5.4 requirement level

definition of the obligation status of a logical interface's (3.1.4)logical signal group (3.3.2), signal (3.3.1) as well as a signal's identifier or signal's enumerator
Note 1 to entry: Each requirement level entry has one of three possible obligation statuses applied: conditional (3.5.1), mandatory (3.5.2) or optional (3.5.3).

3.6 Road user relevant entity types

3.6.1 potentially moving object

real-world entity which potentially can move and is relevant for driving situations
Note 1 to entry: A representation of a potentially moving object is part of object level (3.2.6)logical interfaces (3.1.4).
EXAMPLE:A vehicle, a bicycle, a pedestrian, an obstacle.

3.6.2 road object

marking or structure of a road which is relevant for driving situations
Note 1 to entry: A representation of a road object is part of object level (3.2.6)logical interfaces (3.1.4).
EXAMPLE:A road marking (3.6.2.1), a road boundary (3.6.2.2), the road surface (3.6.2.3).

3.6.2.1 road marking

line, symbol or other mark on the surface of a road or a structure intended to limit, regulate, warn, guide or inform road users
Note 1 to entry: Other marks could be text, numbers, arrows or combinations.
EXAMPLE:A lane marking, Botts' dots.
[SOURCE:ISO 6707-1:2020, 3.3.5.80, modified — "user" was modified to "road users", “a road surface” was modified to “the surface of a road” and the Note 1 to entry and example have been added.]

3.6.2.2 road boundary

structure that limits the road
EXAMPLE:A curb stone, a guard rail, the end of the surface of the road.

3.6.2.3 road surface

surface supporting the tyre and providing friction necessary to generate shear forces in the road plane (3.7.6)
Note 1 to entry: The surface may be flat, curved, undulated or of other shape.
[SOURCE:ISO 8855:2011, 2.6]

3.6.3 static object

real-world stationary entity which can be used for information and/or localisation
Note 1 to entry: A representation of a static object is part of object level (3.2.6)logical interfaces (3.1.4).
EXAMPLE:A general landmark (3.6.3.1), a traffic sign (3.6.3.2), a traffic light (3.6.3.3).

3.6.3.1

general landmark
real-world stationary entity which can be used for localisation
Note 1 to entry: A stationary traffic sign (3.6.3.2) or traffic light (3.6.3.3) is also regarded as a general landmark.
EXAMPLE:A building, a tunnel, a bridge, a sign gantry structure, a tree.

3.6.3.2 traffic sign

traffic relevant, authorised sign that limits, regulates, warns, guides or informs road users
Note 1 to entry: One traffic sign usually consists of one main sign (3.6.3.2.1) and none, one or several supplementary signs (3.6.3.2.2).
EXAMPLE:A speed limit which is restricted for trucks.

3.6.3.2.1 main sign

traffic sign (3.6.3.2) which gives a general message, obtained by a combination of colour and geometric shape and which, by the addition of a graphical symbol or text, gives a particular message for road users
[SOURCE:ISO 3864-1:2011, 3.12, modified — The original term was "safety sign", "sign" has been replaced by "traffic sign" and the phrases "or text" and "for road users" have been added to the definition.]

3.6.3.2.2 supplementary sign

traffic sign (3.6.3.2) that is supportive of a main sign (3.6.3.2.1) and the main purpose of which is to provide additional clarification
[SOURCE:ISO 3864-1:2011, 3.14, modified — "traffic sign" now replaces "sign" and "main sign" replaces "traffic sign".]

3.6.3.3 traffic light

traffic relevant, official lights
Note 1 to entry: One traffic light consists of one or several light spots with different light colours and shapes.
EXAMPLE:A pedestrian traffic light.

3.7 Axis and coordinate system terms

3.7.1

reference frame
geometric environment in which all points remain fixed with respect to each other at all times
[SOURCE:ISO 8855:2011, 2.1]

3.7.2 axis system

set of three orthogonal directions associated with X, Y and Z axes
Note 1 to entry: A right-handed axis system is assumed throughout this document, where: mml_m1.
[SOURCE:ISO 8855:2011, 2.3, modified — Notes to entry have been adapted.]

3.7.3 coordinate system

numbering convention used to assign a unique ordered trio of values to each point in a reference frame (3.7.1) and which consists of an axis system (3.7.2) plus an origin point
[SOURCE:ISO 8855:2011, 2.4, modified — "(x, y, z)" has been removed from the definition.]

3.7.4

cartesian coordinate system
set of numerical coordinates (x, y, z), which are the signed distances to the YZ-, ZX- and XY-planes

3.7.5 spherical coordinate system

set of two angles and a distance vector associated with radial distance, azimuth and elevation
Note 1 to entry: The azimuth angle is the angle in XY-plane of the axis system (3.7.2) counted from the X-axis. The elevation angle is the angle from the azimuth direction in the XY-plane of the axis system towards the direction of the distance vector, that is XY-plane has an elevation angle = 0 rad.
Note 2 to entry: The angles of the spherical coordinate system have increasing values in counter-clockwise direction.

3.7.6

road plane
plane representing the road surface (3.6.2.3) within the front tyre contact patches and the vehicle road-level reference point (3.7.13)
Note 1 to entry: See Figure 2.
Note 2 to entry: For tyre contact patches, see ISO 8855:2011, 4.1.5.

[SOURCE:ISO 8855:2011, 2.7, modified — The phrase "and the vehicle road-level reference point" and the figure have been added, and the Notes to entry have been modified.]

3.7.7

road level
point related to a road plane (3.7.6)

3.7.8 vehicle unsprung mass

unsprung mass
mass that is not carried by the suspension, but is supported directly by the tyres
[SOURCE:ISO 8855:2011, 4.11, modified — The term "vehicle unsprung mass" has been added.]

3.7.9 vehicle sprung mass

sprung mass
mass that is supported by the suspension, that is the total vehicle mass less the vehicle unsprung mass (3.7.8)
[SOURCE:ISO 8855:2011, 4.12, modified — The term vehicle sprung mass has been added and Note 1 to entry has been removed.]

3.7.10 vehicle rear-axle reference point

point fixed in the vehicle sprung mass (3.7.9) and located at the centre of the rear-axle

3.7.11 vehicle sprung mass axis system

axis system (3.7.2) fixed in the reference frame (3.7.1) of the vehicle sprung mass (3.7.9), so that the X-axis is substantially horizontal and forwards (with the vehicle at rest), and is parallel to the vehicle's longitudinal plane of symmetry, and the Y-axis is perpendicular to the vehicle's longitudinal plane of symmetry and points to the left with the Z-axis pointing upward

3.7.12 vehicle rear-axle coordinate system

coordinate system (3.7.3) based on the vehicle sprung mass axis system (3.7.11) with the origin located at the vehicle rear-axle reference point (3.7.10)
Note 1 to entry: The vehicle rear-axle coordinate system is a vehicle coordinate system (3.7.16).
Note 2 to entry: See Figure 3.

3.7.13 vehicle road-level reference point

point at road level (3.7.7) located in the middle of the rear tyre contact patches
Note 1 to entry: For tyre contact patches, see ISO 8855:2011, 4.1.5.

3.7.14 vehicle road-level axis system

axis system (3.7.2) fixed in the reference frame (3.7.1) of the vehicle unsprung mass (3.7.8), so that the X-axis is parallel to the vehicle's longitudinal plane of symmetry and points into forward moving direction and the Y-axis is perpendicular to the vehicle's longitudinal plane of symmetry and points to the left with the Z-axis pointing upward
Note 1 to entry: Vehicle road-level axis system’s XY-plane is parallel to the ego-vehicle’s road plane (3.7.6).

3.7.15 vehicle road-level coordinate system

coordinate system (3.7.3) based on the vehicle road-level axis system (3.7.14) with the origin located at the vehicle road-level reference point (3.7.13) at the vehicle road level (3.7.7)
Note 1 to entry: The vehicle road-level coordinate system is a vehicle coordinate system (3.7.16).
Note 2 to entry: See Figure 4.

3.7.16 vehicle coordinate system

cartesian coordinate system (3.7.4) which is either the vehicle rear-axle coordinate system (3.7.12) or the vehicle road-level coordinate system (3.7.15)
Note 1 to entry: See Figure 5.

3.7.17 sensor axis system

axis system (3.7.2) fixed in the reference frame (3.7.1) of the sensor (3.1.5)
Note 1 to entry: The X-axis is in viewing direction of the sensor and the Z-axis pointing upward.

3.7.18 sensor coordinate system

spherical coordinate system (3.7.5) based on the sensor axis system (3.7.17) at a defined origin point of the sensor (3.1.5)
Note 1 to entry: The origin point of the sensor coordinate system has to be selected in a way that detections (3.2.1) could easily be specified in a spherical coordinate system. For example, the origin point of a camera sensor is the virtual projection centre of the camera’s optics.

Bibliography

[1] ISO/IEC Guide 99:2007, International vocabulary of metrology — Basic and general concepts and associated terms (VIM)
[2] ISO/IEC 2382:2015, Information technology — Vocabulary
[3] ISO 3864-1:2011, Graphical symbols — Safety colours and safety signs — Part 1: Design principles for safety signs and safety markings
[4] ISO 5725-1:1994, Accuracy (trueness and precision) of measurement methods and results — Part 1: General principles and definitions
[5] ISO 6707-1:2020, Buildings and civil engineering works — Vocabulary — Part 1: General terms
[6] ISO 8855:2011, Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary
[7] ISO/IEC 11179-3:2013, Information technology — Metadata registries (MDR) — Part 3: Registry metamodel and basic attributes
[8] ISO 11270:2014, Intelligent transport systems — Lane keeping assistance systems (LKAS) — Performance requirements and test procedures
[9] ISO/SAE PAS 22736, Intelligent transport systems — Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles
[10] ISO 80000-1:2009/COR 1:2011, (E), Quantities and units — Part 1: General
[11] ISO 80000-2:2019, Quantities and units — Part 2: Mathematics
[12] SAE J3016_201806, Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles

ISO/DIS23150:2022(E)

Foreword
1 Scope
2 Normative references
3 Terms and definitions
3.1Architectural components
3.2Terms for logical interface layers
3.3Structure terms
3.4Measurement terms
3.5Requirement level terms
3.6Road user relevant entity types
3.7Axis and coordinate system terms
4Abbreviated terms
5Structure of the interface description
5.1General
5.2Signal
5.3Interface
5.4Specific signal grouping
5.5Profile
6Logical interface from a sensor as well as a sensor cluster to a fusion unit
6.1General
6.2Generic interface header
6.3Generic interface entity
6.4Profile: Uniqueness of interface versioning227Object level
7.1General
7.2Generic object level interface
7.2.1Generic object level header
7.2.2Generic object level entity
7.3Potentially moving object interface
7.3.1Potentially moving object header
7.3.2Potentially moving object entity
7.3.3Profile: Motion
7.3.4Profile: Motion state vector
7.4Road object interface
7.4.1Road object header
7.4.2Road object entity
7.4.3Profile: Colour model for RDOI
7.5Static object interface
7.5.1Static object header
7.5.2Static object entity
7.5.3Profile: Colour model for SOI
7.5.4Profile: Detection references for 3D detections
7.6Free space area object interface
7.6.1Free space area object header
7.6.2Free space area object entity
8Feature level
8.1General
8.2Generic sensor cluster feature interface
8.2.1Generic sensor cluster feature header
8.2.2Generic sensor cluster feature entity.
8.3Camera feature interface.
8.3.1Camera feature header.
8.3.2Camera feature entity.
8.3.3Profile: Colour model for CFI
8.4Ultrasonic feature interface.
8.4.1Ultrasonic feature header
8.4.2Ultrasonic feature entity.
9 Detection level
9.1General
9.2Generic sensor detection interface
9.2.1Generic sensor detections header
9.2.2Generic sensor detections entity.
9.3Radar detection interface
9.3.1Radar detections header.
9.3.2Radar detections entity.
9.3.3Profile: Radar ambiguity.
9.4Lidar detection interface.
9.4.1Lidar detection header
9.4.2Lidar detection entity
9.5Camera detection interface
9.5.1Camera detection header
9.5.2Camera detection entity
9.5.3Profile: Colour model for CDI
9.6Ultrasonic detection interface
9.6.1Ultrasonic detection header.
9.6.2Ultrasonic detection entity
9.6.3Profile: Ultrasonic sensor cluster
10Supportive sensor interfaces
10.1General
10.2Generic supportive sensor interface
10.2.1Generic supportive sensor header
10.2.2Generic supportive sensor entity
10.3Sensor performance interface
10.3.1Sensor performance header
10.3.2Sensor performance entity
10.3.3Profile: Uniqueness of interface versioning of SPIs
10.4Sensor health information interface
10.4.1Sensor health information header
10.4.2Sensor health information entity
11Sensor input interface
11.1General
11.2Generic sensor input interface
11.2.1Generic sensor inputs header.
11.2.2Generic sensor inputs entity
11.2.3Profile: Uniqueness of interface versioning of SII
11.3Common sensor input interface
11.3.1Common sensor input header
11.3.2Common sensor input entity
AnnexA (normative) Interface signals
AnnexB (normative) Options and constraints