ISO 23150-2021 pdf free download – Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface.
5.5? Profile If multiple signals of an interface have an interface-specific semantic interdependency, this interdependency is described in a profile subclause and additional complex conditions are defined. Each signal which is contained in the profile has an annotation of the profile in the signal’s option- column definition of the interface (see column “Option” in Table 3 and Table 4).
6 Logical interface from a sensor as well as a sensor cluster to a fusion unit
6.1 General The aim of this document is to support different levels of fusion. Therefore, the document provides three logical interface levels (detection-, feature- and object level). Supportive sensor interfaces (SSIs) complement the interfaces of the three logical interface levels. Detections, features, objects and supportive sensor information are the basis for a fusion unit. A tracking algorithm within the sensor solely or the sensor cluster using their own information, results in objects with limited quality. The fusion unit can improve these and is able to merge the information on different levels, using object-level fusion as well as feature- and/or detection-level fusion. In order to perform object-level fusion from a sensor suite 2) , sufficient evidence in the form of correlated detections belonging to a particular real- world entity shall be provided by each sensor and sensor cluster. An advantage of feature-level fusion is the possible creation of an object in the common fusion unit out of detections, features or objects coming from a sensor suite, which would not have resulted in an object recognition within each sensor or each sensor cluster itself. Detection-level fusion may use machine learning algorithms to handle complexity. Future vehicles will integrate a sensor suite with many sensors and sensor clusters using different sensor technologies. Different technologies will complement each other to achieve a robust and reliable fusion. Supportive sensor interfaces are provided so that the fusion is able to process the reliability of the used measurement method or data. These interfaces are sensor technology independent, specifically there are uniform interfaces for various sensor technologies. These supportive sensor interfaces are also used for the implementation of safety concepts. The Figure 7 shows the interfaces that are in the scope of this document.
The interfaces covered in the scope of this document are the following:
— objects:
— potentially moving object interface (7.3): with specific attributes for, for example, lights,pedestrian;
— road object interface (7.4): road surface, road markings, road boundaries;
— static object interface (7.5): general landmarks, traffic signs, traffic lights;
— sensor or sensor cluster specific features:
— camera feature interface (8.3);
— ultrasonic feature interface (8.4);
— sensor or sensor cluster specific detections:
— radar detection interface (9.3);
— lidar detection interface (9.4);
— camera detection interface (9.5);
— ultrasonic detection interface (9.6);
— supportive information:
— sensor performance interface (10.3): with specific sensor-attributes for, for example, current field-of-view (FOV) segments, object recognition rates, reference target recognition rates;
A sensor as well as a sensor cluster can provide several logical interfaces. They can provide none, one or several interfaces on object level. Additionally, a sensor as well as a sensor cluster can provide a sensor technology specific interface on feature as well as detection level. Each sensor as well as each sensor cluster shall provide at least one interface either on object, feature or detection level to fulfil this document. Supportive sensor interfaces can be provided optionally. Sensors and sensor clusters may serve interfaces on all levels. Sensors mainly serve detection level interfaces (DLIs) whereas sensor clusters mainly serve feature level interfaces (FLIs) and/or object level interfaces (OLIs). Sensor clusters are based on sensors and therefore sensor clusters without a group of defined sensors should be avoided. If a sensor cluster offers no DLIs, the sensor cluster can be considered as a single sensor with multiple sensing elements. A sensor cluster provides consistent data over all its interfaces. The fusion unit does not have to use each provided interface. The provided interfaces can be used by other applications (for example, AD functions), not only by the fusion unit alone.ISO 23150 pdf download.