ISO 23150-12:2026

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
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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
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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
...