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BS ISO 23150:2021

BS ISO 23150:2021

$215.11

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

Published By Publication Date Number of Pages
BSI 2021 232
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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.

PDF Catalog

PDF Pages PDF Title
2 National foreword
7 Foreword
8 Introduction
9 1 Scope
2 Normative references
3 Terms and definitions
3.1 Architectural components
10 3.2 Level of detail terms
11 3.3 Structure terms
3.4 Measurement terms
13 3.5 Requirement level terms
3.6 Road user relevant entity types
15 3.7 Axis and coordinate system terms
19 4 Abbreviated terms
20 5 Structure of the interface description
5.1 General
21 5.2 Signal
5.3 Interface
22 5.4 Specific signal grouping
23 5.5 Profile
6 Logical interface from a sensor as well as a sensor cluster to a fusion unit
6.1 General
26 6.2 Generic interface header
6.3 Generic interface entity
6.4 Profile: Uniqueness of interface versioning
27 7 Object level
7.1 General
7.2 Generic object level interface
28 7.2.1 Generic object level header
7.2.2 Generic object level entity
29 7.3 Potentially moving object interface
35 7.3.1 Potentially moving object header
36 7.3.2 Potentially moving object entity
37 7.3.3 Profile: Motion
7.4 Road object interface
48 7.4.1 Road object header
50 7.4.2 Road object entity
52 7.4.3 Profile: Colour model for RDOI
7.5 Static object interface
66 7.5.1 Static object header
67 7.5.2 Static object entity
69 7.5.3 Profile: Colour model for SOI
8 Feature level
8.1 General
70 8.2 Generic sensor cluster feature interface
8.2.1 Generic sensor cluster feature header
71 8.2.2 Generic sensor cluster feature entity
8.3 Camera feature interface
75 8.3.1 Camera feature header
76 8.3.2 Camera feature entity
78 8.3.3 Profile: Colour model for CFI
8.4 Ultrasonic feature interface
81 8.4.1 Ultrasonic feature header
82 8.4.2 Ultrasonic feature entity
9 Detection level
9.1 General
83 9.2 Generic sensor detection interface
9.2.1 Generic sensor detections header
84 9.2.2 Generic sensor detections entity
9.3 Radar detection interface
87 9.3.1 Radar detections header
88 9.3.2 Radar detections entity
89 9.3.3 Profile: Radar ambiguity
9.4 Lidar detection interface
92 9.4.1 Lidar detection header
93 9.4.2 Lidar detection entity
9.5 Camera detection interface
96 9.5.1 Camera detection header
97 9.5.2 Camera detection entity
98 9.5.3 Profile: Colour model for CDI
9.6 Ultrasonic detection interface
100 9.6.1 Ultrasonic detection header
102 9.6.2 Ultrasonic detection entity
103 9.6.3 Profile: Ultrasonic sensor cluster
104 10 Supportive sensor interfaces
10.1 General
105 10.2 Generic supportive sensor interface
10.2.1 Generic supportive sensor header
106 10.2.2 Generic supportive sensor entity
10.3 Sensor performance interface
110 10.3.1 Sensor performance header
112 10.3.2 Sensor performance entity
10.3.3 Profile: Uniqueness of interface versioning of SPIs
10.4 Sensor health information interface
115 10.4.1 Sensor health information header
116 10.4.2 Sensor health information entity
117 Annex A (normative) Interface signals
222 Annex B (normative) Options and constraints
231 Bibliography

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BS ISO 23150:2021
$215.11