ISO 23150-13:2026
(Main)Road vehicles — Logical interface between sensors and data fusion unit for automated driving functions — Part 13: Camera specific interfaces
- Abstract
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.
- Status
- Published
- Publication Date
- 28-Jun-2026
- Technical Committee
- ISO/TC 22/SC 31 - Data communication
- Current Stage
- 6060 - International Standard published
- Start Date
- 29-Jun-2026
- Due Date
- 09-Oct-2026
- Completion Date
- 29-Jun-2026
ISO 23150-13:2026 is an International Standard from ISO for road vehicles with automated driving functions. It specifies technology-specific logical interfaces for camera sensors or sensor clusters at feature level, advanced detection level, and detection level, so camera data can be exchanged with a data fusion unit in a structured way.
What does ISO 23150-13:2026 specify?
ISO 23150-13:2026 defines the camera-specific logical interface content within the ISO 23150 series. It covers the information exchanged at feature level, advanced detection level, and detection level, and it is built on the generic principles, signals, and profiles in ISO 23150-1:2026.
The document is organized into Clauses 1 to 7 and Annex A. Clause 5 covers the camera feature interface, Clause 6 the camera advanced detection interface, Clause 7 the camera detection interface, and Annex A gives the camera interface signals.
| Annex | What it covers |
|---|---|
| Annex A (normative) | Camera interface signals |
ISO 23150-13:2026 does not define electrical or mechanical interface specifications. Raw data interfaces are also outside its scope, so the document is for logical data exchange rather than wiring, connector, or image-stream design.
What are the key requirements of ISO 23150-13:2026?
ISO 23150-13:2026 sets up three camera logical interfaces and adapts each one from the generic interface definitions in ISO 23150-1:2026. In practice, an implementer uses the part 1 framework, then applies the camera-specific signals and entity structures in this part.
Common header and versioning rules
Each of the three interfaces uses a header with interface version ID, optional interface ID, the number of valid serving sensors, Sensor ID, a time stamp, optional cycle counter, optional cycle time and cycle time variation, and a mandatory data qualifier. This matters because the receiver can identify the interface version, align data in time, and know which sensor or sensor cluster produced the information.
The headers also allow profile-based additions from ISO 23150-1:2026, including vehicle coordinate system, sensor pose, calibration, and sensor cluster profiles. In practice, this lets a system carry geometry and calibration context alongside the camera data instead of treating the detections as isolated values.
Feature level in Clause 5
The camera feature interface (CFI) is based on the generic sensor cluster feature interface in ISO 23150-1:2026. ISO 23150-13:2026 treats camera features as shapes extracted from camera images, with regions of common semantic content.
The CFI uses a camera feature header and feature entities. The feature entity status includes existence probability, feature ID or object reference where applicable, time stamp difference, and observation-related signals. This is the history and identity layer for linking camera features over time, including cases where the same feature may reappear as a new entity.
CFI features include shape information, shape colour tone, shape points, and shape reference points. ISO 23150-13:2026 also uses shape classification and colour model signals from ISO 23150-1:2026. The document states that camera features are described by zero, one, or two dimensional shapes and that polyline interpolation is linear.
Advanced detection level in Clause 6
The camera advanced detection interface (CADI) is based on the generic sensor advanced detection interface in ISO 23150-1:2026. CADI describes a two dimensional view of dynamic advanced detections, so it is aimed at higher-level camera detections that still retain motion and bounding-box style information.
The advanced detection entity status includes existence probability, advanced detection ID, object reference where used, and time stamp difference. The entity information includes recognition classification-related signals, a visible-view description, a classified view, a bounding box extent in azimuth and elevation, and a reference to recognized lines or road boundaries.
CADI dynamics use normalized velocity and normalized acceleration, plus a tracking motion model. In practice, this means the interface not only tells you what the camera sees, but also how the detection is moving and which tracking assumption was used to estimate that motion.
Detection level in Clause 7
The camera detection interface (CDI) is based on the generic sensor detection interface in ISO 23150-1:2026. CDI covers measured shape detections and point detections, each with its own header and entity structure.
For shape detections, ISO 23150-13:2026 defines shape status, shape information, shape colour tone, shape points, and shape reference points. For point detections, it defines point status, point information, point colour tone, and point dynamics. This separation matters because a system can represent either an object outline or a single point-like detection in a consistent way.
CDI also introduces shape ambiguity grouping ID, which maps different shape measurements to the same recognition when the same physical scene can be represented in more than one way. The document states that camera detections are described by 0, 1, or 2 dimensional shapes, and that the polyline interpolation method is PIM_Linear.
Profiles and options
ISO 23150-13:2026 states that no specific profiles are defined for CFI, CADI, or CDI. The document still refers to the generic profiles and signal options in ISO 23150-1:2026, so implementers need to follow the part 1 profile logic where it applies.
What terms does ISO 23150-13:2026 define?
- CFI (camera feature interface) - The feature-level camera interface for shapes extracted from camera images.
- CADI (camera advanced detection interface) - The advanced detection-level camera interface for dynamic detections with motion and bounding-box information.
- CDI (camera detection interface) - The detection-level camera interface for measured shape or point detections.
- FLI (feature level interface) - The generic feature interface defined in ISO 23150-1:2026 and used as the basis for CFI.
- ADLI (advanced detection level interface) - The generic advanced detection interface defined in ISO 23150-1:2026 and used as the basis for CADI.
- DLI (detection level interface) - The generic detection interface defined in ISO 23150-1:2026 and used as the basis for CDI.
- LSG (logical signal group) - A grouped set of related signals that together describe status, information, or dynamics for an entity.
Who uses ISO 23150-13:2026?
ISO 23150-13:2026 is used by camera sensor suppliers, sensor-cluster developers, automated driving system integrators, and OEM teams that define the logical data exchanged with a fusion unit. It is also relevant to validation, calibration, and quality teams that need a common camera interface definition for testing interoperability and reviewing data content.
In practice, users apply it when they specify camera output structures, map camera detections into standardized entities, or check that a camera and fusion unit agree on headers, IDs, timing, and entity status. Buyers and technical reviewers can also use it to decide whether a camera interface matches a project’s automated driving data architecture.
What changed in ISO 23150-13:2026 from the previous edition?
ISO 23150-13:2026 is the first edition of this part and, together with ISO 23150-1, ISO 23150-2, ISO 23150-11, ISO 23150-12, ISO 23150-14, ISO 23150-15, and ISO 23150-20, it cancels and replaces ISO 23150:2023. The foreword states that the series was technically revised.
The changes named in the document are:
- reorganization of the document structure
- use of generic interfaces, generic signals, generic profiles, and terms and definitions from ISO 23150-1 as the basis
- separation of technology-specific interfaces into different documents
- a camera-specific collection of interfaces in this part
- revision of the logical interfaces
- new logical interfaces for camera advanced detections
Which standards are used with ISO 23150-13:2026?
ISO 23150-13:2026 normatively references ISO 23150-1:2026, Road vehicles - Logical interface between sensors and data fusion unit for automated driving functions - Part 1: General information and principles. Part 1 provides the generic interface definitions, signal options, profiles, and terms that this part builds on.
The foreword and bibliography also place this part in the wider ISO 23150 series:
- ISO 23150-2 - object level interfaces
- ISO 23150-11 - radar specific interfaces
- ISO 23150-12 - lidar specific interfaces
- ISO 23150-14 - ultrasonic specific interfaces
- ISO 23150-15 - microphone specific interfaces
- ISO 23150-20 - supportive and sensor input interfaces
What does the ISO 23150-13:2026 document contain?
ISO 23150-13:2026 contains interface structure tables for the camera feature, advanced detection, and detection levels, plus detailed entity-status groupings for each level. It also includes figures that show how camera feature shapes and camera advanced detection bounding boxes are represented.
Annex A provides the signal definitions used by the camera interfaces, including descriptions, value types, units, and enumerations. The annex covers header signals, feature-level signals, advanced-detection-level signals, and detection-level signals, so it is the main reference section for implementation and testing.
Relations
- Effective Date
- 28-Oct-2023
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Frequently Asked Questions
ISO 23150-13:2026 is a standard published by the International Organization for Standardization (ISO). Its full title is "Road vehicles — Logical interface between sensors and data fusion unit for automated driving functions — Part 13: Camera specific interfaces". This standard covers: 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.
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.
ISO 23150-13:2026 is classified under the following ICS (International Classification for Standards) categories: 43.040.15 - Car informatics. On board computer systems. The ICS classification helps identify the subject area and facilitates finding related standards.
ISO 23150-13:2026 has the following relationships with other standards: It is inter standard links to ISO 23150:2023. Understanding these relationships helps ensure you are using the most current and applicable version of the standard.
ISO 23150-13:2026 is available in PDF format for immediate download after purchase. The document can be added to your cart and obtained through the secure checkout process. Digital delivery ensures instant access to the complete standard document.
Standards Content (Sample)
International
Standard
ISO 23150-13
First edition
Road vehicles — Logical interface
2026-06
between sensors and data fusion
unit for automated driving
functions —
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
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
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CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
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 . 2
5 Feature level . 3
5.1 Camera feature interface .3
5.2 Camera feature header .8
5.3 Camera feature entity .9
5.4 Camera feature profiles .11
6 Advanced detection level .11
6.1 Camera advanced detection interface .11
6.2 Camera advanced detection header .16
6.3 Camera advanced detection entity .17
6.4 Camera advanced detection profiles .18
7 Detection level .18
7.1 Camera detection interface .18
7.2 Camera detection header .24
7.3 Camera detection entity . 25
7.4 Camera detection profiles . 26
Annex A (normative) Camera interface signals .27
Bibliography . 41
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 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.
[1] [2] [3]
This first edition of ISO 23150-13, together with ISO 23150-1 , ISO 23150-2 , ISO 23150-11 , ISO 23150-12
[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:
— reorganisation 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 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
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.
[1]
The interfaces are bases 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 camera sensor or sensor cluster may also implement (provide or receive) logical interfaces:
[2]
— on object level (see ISO 23150-2 );
— for additional interfaces as supportive sensor interfaces and sensor input information interfaces (see
[7]
ISO 23150-20 ).
This document is not intended to replace the logical interface specifications of other documents in 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 the document
Figure 2 — Interfaces in the scope of this document and the related interfaces of the ISO 23150
series
vi
International Standard ISO 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 23150-1:2026, Road vehicles — Logical interface between sensors and data fusion unit for automated
driving functions — Part 1: General information and principles
ISO 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 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
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
[8]
The generic specification of the feature interfaces is defined in ISO 23150-1:2026 , Clause 8. The camera
feature interface shall base on the generic sensor cluster feature interface as specified in ISO 23150-1:2026,
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
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 23150-1:2026, Annex A. Furthermore, the generic profiles
as defined in 5.4 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 — 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
[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
[8]
23150-1:2026 , A.1.4) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Sensor ID (ISO 23150-
[8]
1:2026 , A.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid serving sensors (ISO 23150-1:2026 , A.1.4)
[8]
Sensor ID (ISO 23150-1:2026 , M Profile: Uniqueness of
A.1.5) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Time stamp – prediction (ISO 23150- M
[8]
1:2026 , A.1.6.1)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , 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.
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
[8]
Cycle counter (ISO 23150-1:2026 , O Redundancy (ISO 23150-
[8]
A.1.7.1) 1:2026 , B.1.3)
Signal: Time stamp – pre-
diction (ISO 23150-1:2026
[8]
, A.1.6.1)
Interface cycle time (ISO 23150-1:2026 O
[8]
, A.1.8)
Interface cycle time – variation (ISO O
[8]
23150-1:2026 , A.1.9)
[8]
Data qualifier (ISO 23150-1:2026 , M Optimise DE (ISO 23150-
[8]
A.1.10) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Colour model type (ISO 23150-1:2026 M Profile: Colour model (ISO
[8] [8]
, A.1.14) 23150-1:2026 , 6.5.2)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Use enumeration to define
colours by defining colour
values and the applied
colour model for each enu-
merator.
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Features
Features M Recognised features – capability (ISO O
[8]
information 23150-1:2026 , A.1.11.2)
Recognised features – status (ISO O Redundancy (ISO 23150-
[8] [8]
23150-1:2026 , A.1.12.2) 1:2026 , B.1.3)
Signal: Recognised features
– capability (ISO 23150-
[8]
1:2026 , A.1.11.2)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Number of valid features (ISO 23150- M Optimise LL (ISO 23150-
[8] [8]
1:2026 , A.1.13.2) 1:2026 , B.1.2)
Optimize AER (ISO 23150-
[8]
1:2026 , B.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid features (ISO 23150-1:2026 , A.1.13.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , 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.
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Status M Existence probability – feature level M
[8]
(ISO 23150-1:2026 , A.4.2)
[8]
Feature ID (ISO 23150-1:2026 , C (ISO 23150- Alternative A2I (ISO 23150-
[8] [8]
A.4.3) 1:2026 , B.3.2) 1:2026 , B.3.3)
Exist: DLI
Feature grouping ID (A.2.2) O
Object ID reference (ISO 23150- C (ISO 23150- Alternative A2I (ISO 23150-
[8] [8] [8]
1:2026 , A.2.69) 1:2026 , B.3.2) 1:2026 , B.3.3)
Exist: OLI
Time stamp difference – feature M Optimise IV (ISO 23150-
[8] [8]
level (ISO 23150-1:2026 , A.4.4) 1:2026 , B.1.6)
Number of valid observations (ISO O Profile: Observations (ISO
[8] [8] a
23150-1:2026 , A.2.23) 23150-1:2026 , 6.5.8)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Time stamp reference
[8]
(ISO 23150-1:2026 ,
A.2.24)
Size type: dynamic/fixed
[8]
Size #: Number of valid observations (ISO 23150-1:2026 , A.2.23)
Time stamp reference (ISO M Profile: Observations (ISO
[8] [8] a
23150-1:2026 , A.2.24) 23150-1:2026 , 6.5.8)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Observation status (ISO 23150- M Profile: Observations (ISO
[8] [8] a
1:2026 , A.2.25) 23150-1:2026 , 6.5.8)
Redundancy (ISO 23150-
[8]
1:2026 , B.1.3)
Signal: Feature ID (ISO
[8]
23150-1:2026 , A.4.3) (if
unique over time), Time
stamp – prediction (ISO
[8]
23150-1:2026 , A.1.6.1)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , 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.
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
↪ Shape M Number of valid shape classifica- M Profile: Shape classification
[8] [8]
information tions (ISO 23150-1:2026 , A.2.26) (ISO 23150-1:2026 , 6.5.9)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Shape classification
[8]
type (ISO 23150-1:2026 ,
A.2.27)
Size type: dynamic/fixed
[8]
Size #: Number of valid shape classifications (ISO 23150-1:2026 , A.2.26)
Shape classification type (ISO M Profile: Shape classification
[8] [8]
23150-1:2026 , A.2.27) (ISO 23150-1:2026 , 6.5.9)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Shape classification type – con- M Profile: Shape classification
[8] [8]
fidence (ISO 23150-1:2026 , (ISO 23150-1:2026 , 6.5.9)
A.2.28)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
↪ Shape colour M Size type: dynamic/fixed
tone Size #
[8]
* Implicit list length – Optimise LL (ISO 23150-1:2026 , B.1.2): depends on
[8]
Colour model type (ISO 23150-1:2026 , A.1.14)
Colour value (ISO 23150-1:2026 M Profile: Colour model (ISO
[8] [8]
, A.2.18) 23150-1:2026 , 6.5.2)
Colour tone – confidence (ISO O Profile: Colour model (ISO
[8] [8]
23150-1:2026 , A.2.19) 23150-1:2026 , 6.5.2)
[8]
↪ Shape points M Shape type (ISO 23150-1:2026 , M Profile: Shape type {x, y,
[8]
A.2.30) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Number of valid vertices (ISO M Profile: Shape type {x, y,
[8] [8]
23150-1:2026 , A.2.31) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , 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.
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Size type: dynamic/fixed
[8]
Size #: Number of valid vertices (ISO 23150-1:2026 , A.2.31)
Vertex point {x,y,z} (ISO 23150- M Profile: Shape type {x, y,
[8] [8]
1:2026 , A.2.35) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Vertex point {x,y,z} – error (ISO M Profile: Shape type {x, y,
[8] [8]
23150-1:2026 , A.2.36) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
Implementation EM (ISO
[8]
23150-1:2026 , B.4.2)
Vertex point {x,y,z} – confidence O Profile: Shape type {x, y,
[8] [8]
(ISO 23150-1:2026 , A.2.37) z} (ISO 23150-1:2026 ,
b
6.5.10.2)
↪ Shape refer- O Number of valid shape reference M Optimise LL (ISO 23150-
[8]
ence points points – feature level (A.2.3) 1:2026 , B.1.2)
Size type: dynamic/fixed
Size #: Number of valid shape reference points – feature level (A.2.3)
Position {x, y, z} (ISO 23150- M Profile: Position {x, y, z}
[8] [8]
1:2026 , A.2.43) (ISO 23150-1:2026 ,
6.5.11.2)
Position {x, y, z} – error (ISO M Profile: Position {x, y, z}
[8] [8]
23150-1:2026 , A.2.44) (ISO 23150-1:2026 ,
6.5.11.2)
Implementation EM (ISO
[8]
23150-1:2026 , 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
[8]
error (A.2.6) 23150-1:2026 , B.4.2)
Translation rate {x, y, z} (ISO M Profile: Translation rate
[8]
23150-1:2026 , A.2.49) {x,y,z} (ISO 23150-1:2026
[8]
, 6.5.12.2)
Translation rate {x, y, z} – error M Profile: Translation rate
[8]
(ISO 23150-1:2026 , A.2.50) {x,y,z} (ISO 23150-1:2026
[8]
, 6.5.12.2)
Implementation EM (ISO
[8]
23150-1:2026 , B.4.2)
Rotation rate {yaw, pitch, roll} O
(A.2.7)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , 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.
TTabablele 2 2 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Rotation rate {yaw, pitch, roll} – O Implementation EM (ISO
[8]
error (A.2.8) 23150-1:2026 , B.4.2)
DEPRECATED: Scale change – O
feature level (A.2.9)
DEPRECATED: Scale change – O Implementation EM (ISO
[8]
feature level – error (A.2.10) 23150-1:2026 , B.4.2)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
b
For polyline interpolation, a linear interpolation between two sequential vertex points is assumed. Therefore, the signal
[8]
"Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) always has the mandatory enumeration "PIM_Linear". The
[8]
profile does not provide the signal "Polyline interpolation method" (ISO 23150-1:2026 , A.2.29) explicitly. Camera features
[8]
are described by zero, one or two dimensional shapes. Therefore, the signal "Shape type" (ISO 23150-1:2026 , 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 23150-1:2026, 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
[8] [8]
(ISO 23150-1:2026 , A.1.2) (ISO 23150-1:2026 , 6.5.1)
[8]
Interface ID (ISO 23150-1:2026 , A.1.3) Optional Profile: Uniqueness of interface versioning
[8]
(ISO 23150-1:2026 , 6.5.1)
Number of valid serving sensors (ISO 23150- Mandatory Profile: Uniqueness of interface versioning
[8] [8]
1:2026 , A.1.4) (ISO 23150-1:2026 , 6.5.1)
[8]
Optimise LL (ISO 23150-1:2026 , B.1.2)
[8]
Alternative UTL (ISO 23150-1:2026 , B.1.7)
[8]
Key: Sensor ID (ISO 23150-1:2026 , A.1.5)
[8]
↪ Sensor ID (ISO 23150-1:2026 , A.1.5) Mandatory Profile: Uniqueness of interface versioning
[8]
(ISO 23150-1:2026 , 6.5.1)
[8]
Alternative VRO (ISO 23150-1:2026 , B.1.4)
Time stamp – prediction (ISO 23150-1:2026 Mandatory
[8]
, A.1.6.1)
[8] [8]
Cycle counter (ISO 23150-1:2026 , A.1.7.1) Optional Redundancy (ISO 23150-1:2026 , B.1.3)
Signal: Time stamp – prediction (ISO 23150-
[8]
1:2026 , A.1.6.1)
[8]
Interface cycle time (ISO 23150-1:2026 , Optional
A.1.8)
Interface cycle time – variation (ISO 23150- Optional
[8]
1:2026 , A.1.9)
[8] [8]
Data qualifier (ISO 23150-1:2026 , A.1.10) Mandatory Optimise DE (ISO 23150-1:2026 , B.1.8)
[8]
Optimise EES (ISO 23150-1:2026 , B.1.9)
a [8]
Further signals of "Need of logical signal group" (ISO 23150-1:2026 , B.3.4) profiles may be added to this header (see cell
options).
TTabablele 3 3 ((ccoonnttiinnueuedd))
Signal RL signal Option
[8] [8]
Colour model type (ISO 23150-1:2026 , Mandatory Profile: Colour model (ISO 23150-1:2026 ,
A.1.14) 6.5.2)
[8]
Alternative VRO (ISO 23150-1:2026 , B.1.4)
Use enumeration to define colours by defining
colour values and the applied colour model
for each enumerator.
[8]
Optimise DE (ISO 23150-1:2026 , B.1.8)
[8]
Optimise EES (ISO 23150-1:2026 , B.1.9)
a
... Need of logical signal group (ISO 23150-
[8]
1:2026 , B.3.4)
Profile: Vehicle coordinate system (ISO
[8]
23150-1:2026 , 6.5.4)
[8]
Profile: Sensor pose (ISO 23150-1:2026 ,
6.5.5)
[8]
Profile: Calibration (ISO 23150-1:2026 ,
6.5.6)
[8]
Profile: Sensor cluster (ISO 23150-1:2026 ,
6.5.7)
Features
Recognised features – capability (ISO 23150- Optional
[8]
1:2026 , A.1.11.2)
[8]
Recognised features – status (ISO 23150- Optional Redundancy (ISO 23150-1:2026 , B.1.3)
[8]
1:2026 , A.1.12.2) Signal: Recognised features – capability (ISO
[8]
23150-1:2026 , A.1.11.2)
[8]
Optimise DE (ISO 23150-1:2026 , B.1.8)
[8]
Optimise EES (ISO 23150-1:2026 , B.1.9)
[8]
Number of valid features (ISO 23150-1:2026 Mandatory Optimise LL (ISO 23150-1:2026 , B.1.2)
[8]
, A.1.13.2) [8]
Optimize AER (ISO 23150-1:2026 , B.1.5)
↪ Feature entities
a [8]
Further signals of "Need of logical signal group" (ISO 23150-1:2026 , B.3.4) profiles may be added to this header (see cell
options).
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 23150-1:2026, 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 23150-1:2026 Mandatory
[8]
, A.4.2)
[8]
Feature ID (ISO 23150-1:2026 , A.4.3) Conditional (ISO Alternative A2I (ISO 23150-
[8] [8]
23150-1:2026 , 1:2026 , B.3.3)
B.3.2)
Exist: DLI
Feature grouping ID (A.2.2) Optional
[8]
Object ID reference (ISO 23150-1:2026 , A.2.69) Conditional (ISO Alternative A2I (ISO 23150-
[8] [8]
23150-1:2026 , 1:2026 , B.3.3)
B.3.2)
Exist: OLI
Time stamp difference – feature level (ISO 23150-1:2026 Mandatory Optimise IV (ISO 23150-1:2026
[8] [8]
, A.4.4) , B.1.6)
[8]
Number of valid observations (ISO 23150-1:2026 , Optional Profile: Observations (ISO 23150-
[8] a
A.2.23) 1:2026 , 6.5.8)
Optimise LL (ISO 23150-1:2026
[8]
, B.1.2)
Alternative UTL (ISO 23150-
[8]
1:2026 , B.1.7)
Key: Time stamp reference (ISO
[8]
23150-1:2026 , A.2.24)
[8]
↪ Time stamp reference (ISO 23150-1:2026 , A.2.24) Mandatory Profile: Observations (ISO 23150-
[8] a
1:2026 , 6.5.8)
Alternative VRO (ISO 23150-
[8]
1:2026 , B.1.4)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , A.2.22) on FLI.
TTabablele 4 4 ((ccoonnttiinnueuedd))
Signal RL signal Option
[8]
↪ Observation status (ISO 23150-1:2026 , A.2.25) Mandatory Profile: Observations (ISO 23150-
[8] a
1:2026 , 6.5.8)
Redundancy (ISO 23150-1:2026
[8]
, B.1.3)
Signal: Feature ID (ISO 23150-
[8]
1:2026 , A.4.3) (if unique over
time), Time stamp – prediction
[8]
(ISO 23150-1:2026 , A.1.6.1)
Optimise DE (ISO 23150-1:2026
[8]
, B.1.8)
Optimise EES (ISO 23150-1:2026
[8]
, B.1.9)
a
Features may not be tracked continuously. The same feature may be tracked as a new entity multiple times. Therefore, the
[8]
profile does not provide the signal "Age" (ISO 23150-1:2026 , 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
[8]
The generic specification of the advanced detection interfaces is defined in ISO 23150-1:2026 , Clause 9.
The camera advanced detection interface shall base on the generic sensor advanced detection interface as
specified in ISO 23150-1:2026, 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 23150-1:2026, Annex A. Furthermore, the generic
profiles as defined in 6.4 and in ISO 23150-1 as well as the signal options defined in ISO 23150-1:2026, Annex
B shall also be considered. The CADI describes a two dimensional view on dynamic advanced detections (see
Figure 4).
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
[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
[8]
23150-1:2026 , A.1.4) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Sensor ID (ISO 23150-
[8]
1:2026 , A.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid serving sensors (ISO 23150-1:2026 , A.1.4)
[8]
Sensor ID (ISO 23150-1:2026 , M Profile: Uniqueness of
A.1.5) interface versioning (ISO
[8]
23150-1:2026 , 6.5.1)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
a [8] [8]
At least one of the signals "Object ID reference" (ISO 23150-1:2026 , A.2.69), "Feature ID reference" (ISO 23150-1:2026 ,
[8]
A.2.70), "Detection ID reference" (ISO 23150-1:2026 , A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).
TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Time stamp – measurement (ISO M
[8]
23150-1:2026 , A.1.6.2)
[8]
Cycle counter (ISO 23150-1:2026 , O Redundancy (ISO 23150-
[8]
A.1.7.1) 1:2026 , B.1.3)
Signal: Time stamp – meas-
urement (ISO 23150-1:2026
[8]
, A.1.6.2)
Interface cycle time (ISO 23150-1:2026 O
[8]
, A.1.8)
Interface cycle time – variation (ISO O
[8]
23150-1:2026 , A.1.9)
[8]
Data qualifier (ISO 23150-1:2026 , M Optimise DE (ISO 23150-
[8]
A.1.10) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Advanced detections
Advanced de- M Recognised advanced detections – ca- O
[8]
tections pability (ISO 23150-1:2026 , A.1.11.3)
information
Recognised advanced detections – sta- O Redundancy (ISO 23150-
[8] [8]
tus (ISO 23150-1:2026 , A.1.12.3) 1:2026 , B.1.3)
Signal: Recognised ad-
vanced detections – capa-
[8]
bility (ISO 23150-1:2026 ,
A.1.11.3)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Number of valid advanced detections M Optimise LL (ISO 23150-
[8] [8]
(ISO 23150-1:2026 , A.1.13.3) 1:2026 , B.1.2)
Optimize AER (ISO 23150-
[8]
1:2026 , B.1.5)
Size type: dynamic/fixed
[8]
Size #: Number of valid advanced detections (ISO 23150-1:2026 , A.1.13.3)
↪ Status M Existence probability – advanced M
detection level (ISO 23150-1:2026
[8]
, A.5.2)
Advanced detection ID (ISO 23150- M Alternative A2I (ISO 23150-
[8] [8]
1:2026 , A.6.3) 1:2026 , B.3.3)
Object ID reference (ISO 23150- C (ISO 23150- Alternative A2I (ISO 23150-
[8] [8] [8]
1:2026 , A.2.69) 1:2026 , B.3.2) 1:2026 , B.3.3)
Exist: OLI
Time stamp difference – advanced M Optimise IV (ISO 23150-
[8]
detection level (ISO 23150-1:2026 1:2026 , B.1.6)
[8]
, A.5.4)
[8]
Age (ISO 23150-1:2026 , A.2.22) O Profile: Observations (ISO
[8]
23150-1:2026 , 6.5.8)
a [8] [8]
At least one of the signals "Object ID reference" (ISO 23150-1:2026 , A.2.69), "Feature ID reference" (ISO 23150-1:2026 ,
[8]
A.2.70), "Detection ID reference" (ISO 23150-1:2026 , A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).
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
[8] [8]
23150-1:2026 , A.2.23) 23150-1:2026 , 6.5.8)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Time stamp reference
[8]
(ISO 23150-1:2026 ,
A.2.24)
Size type: dynamic/fixed
[8]
Size #: Number of valid observations (ISO 23150-1:2026 , A.2.23)
Time stamp reference (ISO M Profile: Observations (ISO
[8] [8]
23150-1:2026 , A.2.24) 23150-1:2026 , 6.5.8)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Observation status (ISO 23150- M Profile: Observations (ISO
[8] [8]
1:2026 , A.2.25) 23150-1:2026 , 6.5.8)
Redundancy (ISO 23150-
[8]
1:2026 , B.1.3)
Signal: Object ID reference
[8]
(ISO 23150-1:2026 ,
A.2.69), Time stamp – pre-
diction (ISO 23150-1:2026
[8]
, A.1.6.1)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
↪Information M Number of valid recognition clas- M Profile: Recognition classi-
[8]
sifications (ISO 23150-1:2026 , fication type (ISO 23150-
[8]
A.2.61) 1:2026 , 6.5.15)
Optimise LL (ISO 23150-
[8]
1:2026 , B.1.2)
Alternative UTL (ISO
[8]
23150-1:2026 , B.1.7)
Key: Recognition classifica-
tion type (ISO 23150-1:2026
[8]
, A.2.62)
Size type: dynamic/fixed
[8]
Size #: Number of valid recognition classifications (ISO 23150-1:2026 , A.2.61)
Recognition classification type M Profile: Recognition classi-
[8]
(ISO 23150-1:2026 , A.2.62) fication type (ISO 23150-
[8]
1:2026 , 6.5.15)
Alternative VRO (ISO
[8]
23150-1:2026 , B.1.4)
Optimise DE (ISO 23150-
[8]
1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
a [8] [8]
At least one of the signals "Object ID reference" (ISO 23150-1:2026 , A.2.69), "Feature ID reference" (ISO 23150-1:2026 ,
[8]
A.2.70), "Detection ID reference" (ISO 23150-1:2026 , A.2.72) is required.
b
References only object level entities, such as road markings and road boundaries (see ISO 23150 series).
TTabablele 6 6 ((ccoonnttiinnueuedd))
RL LSG RL signal
LSG Signal Option
M/C/O M/C/O
Recognition classification type M Profile: Recognition classi-
– confidence (ISO 23150-1:2026 fication type (ISO 23150-
[8] [8]
, A.2.63) 1:2026 , 6.5.15)
Generic visible view of advanced de- M Optimise DE (ISO 23150-
[8]
tection (A.3.2) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
Classified view of advanced detection O Optimise DE (ISO 23150-
[8]
(A.3.3) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , 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
[8]
edge, azimuth right edge, azimuth 23150-1:2026 , 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
[8]
edge to referenced recognition – 23150-1:2026 , B.4.2)
error (A.3.8)
Advanced detection bounding M Optimise DE (ISO 23150-
[8]
box edge type reference (A.3.9) 1:2026 , B.1.8)
Optimise EES (ISO 23150-
[8]
1:2026 , B.1.9)
a b
Object ID reference (ISO 23150- C
[8]
1:2026 , A.2.69)
a
Feature ID reference (ISO 23150- C
[8]
1:2026 , A.2.70)
a
Detection ID reference (ISO C
[8]
23150-1:2026 , A.2.72)
↪ Dynamics O Advanced detection reference point M Redundancy (ISO 23150-
[8]
in advanced detection view {u, v} 1:2
...