ISO 23150:2023
Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface
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.
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Contents Page
Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
3.1 Architectural components
3.2 Terms for logical interface layers
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 terms
5 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
7.2.1 Generic object level header
7.2.2 Generic object level entity
7.3 Potentially moving object interface
7.3.1 Potentially moving object header
7.3.2 Potentially moving object entity
7.3.3 Profile: Motion type
7.3.4 Profile: Motion state vector
7.4 Road object interface
7.4.1 Road object header
7.4.2 Road object entity
7.4.3 Profile: Colour model for RDOI
7.5 Static object interface
7.5.1 Static object header
7.5.2 Static object entity
7.5.3 Profile: Colour model for SOI
7.5.4 Profile: Detection references for 3D detections
7.6 Free space area object interface
7.6.1 Free space area object header
7.6.2 Free space area object entity
8 Feature level
8.1 General
8.2 Generic sensor cluster feature interface
8.2.1 Generic sensor cluster feature header
8.2.2 Generic sensor cluster feature entity
8.3 Camera feature interface
8.3.1 Camera feature header
8.3.2 Camera feature entity
8.3.3 Profile: Colour model for CFI
8.4 Ultrasonic feature interface
8.4.1 Ultrasonic feature header
8.4.2 Ultrasonic feature entity
9 Detection level
9.1 General
9.2 Generic sensor detection interface
9.2.1 Generic sensor detections header
9.2.2 Generic sensor detections entity
9.3 Radar detection interface
9.3.1 Radar detections header
9.3.2 Radar detections entity
9.3.3 Profile: Radar ambiguity
9.4 Lidar detection interface
9.4.1 Lidar detection header
9.4.2 Lidar detection entity
9.5 Camera detection interface
9.5.1 Camera detection header
9.5.2 Camera detection entity
9.5.3 Profile: Colour model for CDI
9.6 Ultrasonic detection interface
9.6.1 Ultrasonic detection header
9.6.2 Ultrasonic detection entity
9.6.3 Profile: Ultrasonic sensor cluster
10 Supportive sensor interfaces
10.1 General
10.2 Generic supportive sensor interface
10.2.1 Generic supportive sensor header
10.2.2 Generic supportive sensor entity
10.3 Sensor performance interface
10.3.1 Sensor performance header
10.3.2 Sensor performance entity
10.3.3 Profile: Uniqueness of interface versioning of SPIs
10.4 Sensor health information interface
10.4.1 Sensor health information header
10.4.2 Sensor health information entity
11 Sensor input interface
11.1 General
11.2 Generic sensor input interface
11.2.1 Generic sensor inputs header
11.2.2 Generic sensor inputs entity
11.2.3 Profile: Uniqueness of interface versioning of SII
11.3 Common sensor input interface
11.3.1 Common sensor input header
11.3.2 Common sensor input entity
Annex A (normative) Interface signals
A.1 Header signals
A.1.1 Interface version ID {major, minor, patch}
Table A.1 — Signal: Interface version ID {major, minor, patch}
A.1.2 Interface ID
Table A.2 — Signal: Interface ID
Table A.3 — Enumeration: Interface ID – Example enumerators
A.1.3 Number of valid serving sensors
Table A.4 — Signal: Number of valid serving sensors
A.1.4 Sensor ID
Table A.5 — Signal: Sensor ID
A.1.5 Time stamp – …>
A.1.5.1 Time stamp – prediction
Table A.6 — Signal: Time stamp – prediction
A.1.5.2 Time stamp – measurement
Table A.7 — Signal: Time stamp – measurement
A.1.6 …> counter
A.1.6.1 Cycle counter
Table A.8 — Signal: Cycle counter
A.1.6.2 Message counter
Table A.9 — Signal: Message counter
A.1.7 Interface cycle time
Table A.10 — Signal: Interface cycle time
A.1.8 Interface cycle time – variation
Table A.11 — Signal: Interface cycle time – variation
A.1.9 Data qualifier
Table A.12 — Signal: Data qualifier
Table A.13 — Enumeration: Data qualifier – Example enumerators
A.1.10 Recognised …> – capability
A.1.10.1 Recognised potentially moving objects – capability
Table A.14 — Signal: Recognised potentially moving objects – capability
A.1.10.2 Recognised road markings – capability
Table A.15 — Signal: Recognised road markings – capability
A.1.10.3 Recognised road boundaries – capability
Table A.16 — Signal: Recognised road boundaries – capability
A.1.10.4 Recognised general landmarks – capability
Table A.17 — Signal: Recognised general landmarks – capability
A.1.10.5 Recognised traffic signs – capability
Table A.18 — Signal: Recognised traffic signs – capability
A.1.10.6 Recognised traffic sign boards – capability
Table A.19 — Signal: Recognised traffic sign boards – capability
A.1.10.7 Recognised traffic lights – capability
Table A.20 — Signal: Recognised traffic lights – capability
A.1.10.8 Recognised free space areas – capability
Table A.21 — Signal: Recognised free space areas – capability
A.1.10.9 Recognised features – capability
Table A.22 — Signal: Recognised features – capability
A.1.10.10 Recognised detections – capability
Table A.23 — Signal: Recognised detections – capability
A.1.10.11 Recognised shapes – capability
Table A.24 — Signal: Recognised shapes – capability
A.1.11 Recognised …> – status
Table A.25 — Enumeration: Recognised …> – status – Example enumerators
A.1.11.1 Recognised potentially moving objects – status
Table A.26 — Signal: Recognised potentially moving objects – status
A.1.11.2 Recognised road markings – status
Table A.27 — Signal: Recognised road markings – status
A.1.11.3 Recognised road boundaries – status
Table A.28 — Signal: Recognised road boundaries – status
A.1.11.4 Recognised general landmarks – status
Table A.29 — Signal: Recognised general landmarks – status
A.1.11.5 Recognised traffic signs – status
Table A.30 — Signal: Recognised traffic signs – status
A.1.11.6 Recognised traffic sign boards – status
Table A.31 — Signal: Recognised traffic sign boards – status
A.1.11.7 Recognised traffic lights – status
Table A.32 — Signal: Recognised traffic lights – status
A.1.11.8 Recognised free space areas – status
Table A.33 — Signal: Recognised free space areas – status
A.1.11.9 Recognised features – status
Table A.34 — Signal: Recognised features – status
A.1.11.10 Recognised detections – status
Table A.35 — Signal: Recognised detections – status
A.1.11.11 Recognised shapes – status
Table A.36 — Signal: Recognised shapes – status
A.1.12 Number of valid …>
A.1.12.1 Number of valid potentially moving objects
Table A.37 — Signal: Number of valid potentially moving objects
A.1.12.2 Number of valid road markings
Table A.38 — Signal: Number of valid road markings
A.1.12.3 Number of valid road boundaries
Table A.39 — Signal: Number of valid road boundaries
A.1.12.4 Number of valid general landmarks
Table A.40 — Signal: Number of valid general landmarks
A.1.12.5 Number of valid traffic signs
Table A.41 — Signal: Number of valid traffic signs
A.1.12.6 Number of valid traffic sign boards
Table A.42 — Signal: Number of valid traffic sign boards
A.1.12.7 Number of valid traffic lights
Table A.43 — Signal: Number of valid traffic lights
A.1.12.8 Number of valid free space areas
Table A.44 — Signal: Number of valid free space areas
A.1.12.9 Number of valid features
Table A.45 — Signal: Number of valid features
A.1.12.10 Number of valid detections
Table A.46 — Signal: Number of valid detections
A.1.12.11 Number of valid shapes
Table A.47 — Signal: Number of valid shapes
A.1.12.12 Number of valid field-of-view segments
Table A.48 — Signal: Number of valid field-of-view segments
A.1.13 Motion type
Table A.49 — Signal: Motion type
Table A.50 — Enumeration: Motion type – Example enumerators
A.1.14 Colour model type
Table A.51 — Signal: Colour model type
Table A.52 — Enumeration: Colour model type – Example enumerators
A.1.15 Radial velocity ambiguity domain {begin, end}
Table A.53 — Signal: Radial velocity ambiguity domain {begin, end}
A.1.16 Range ambiguity domain {begin, end}
Table A.54 — Signal: Range ambiguity domain {begin, end}
A.1.17 Angle azimuth ambiguity domain {begin, end}
Table A.55 — Signal: Angle azimuth ambiguity domain {begin, end}
A.1.18 Angle elevation ambiguity domain {begin, end}
Table A.56 — Signal: Angle elevation ambiguity domain {begin, end}
A.1.19 Interface applicability
Table A.57 — Signal: Interface applicability
Table A.58 — Enumeration: Interface applicability – Example enumerators
A.1.20 Vehicle coordinate system type – header
Table A.59 — Signal: Vehicle coordinate system type – header
Table A.60 — Enumeration: Vehicle coordinate system type – header
A.1.21 Sensor origin point {x, y, z} – header
Table A.61 — Signal: Sensor origin point {x, y, z} – header
A.1.22 Sensor origin point {x, y, z} – error
Table A.62 — Signal: Sensor origin point {x, y, z} – error
A.1.23 Sensor orientation {yaw, pitch, roll} – header
Table A.63 — Signal: Sensor orientation {yaw, pitch, roll} – header
A.1.24 Sensor orientation {yaw, pitch, roll} – error
Table A.64 — Signal: Sensor orientation {yaw, pitch, roll} – error
A.1.25 Vanishing point {azimuth, elevation}
Table A.65 — Signal: Vanishing point {azimuth, elevation}
Figure A.1 — Example for distance estimation
A.1.26 Vanishing point {azimuth, elevation} – error
Table A.66 — Signal: Vanishing point {azimuth, elevation} – error
A.1.27 Sender ID
Table A.67 — Signal: Sender ID
A.2 Object level entity signals
A.2.1 Existence probability – object level
Table A.68 — Signal: Existence probability – object level
A.2.2 Object ID
Table A.69 — Signal: Object ID
A.2.3 Object grouping ID
Table A.70 — Signal: Object grouping ID
A.2.4 Age
Table A.71 — Signal: Age
A.2.5 Number of valid observations – object level
Table A.72 — Signal: Number of valid observations – object level
A.2.6 Time stamp reference – object level
Table A.73 — Signal: Time stamp reference – object level
A.2.7 Observation status – object level
Table A.74 — Signal: Observation status – object level
Table A.75 — Enumeration: Observation status – object level – Example enumerators
A.2.8 Track quality
Table A.76 — Signal: Track quality
A.2.9 Measurement status – object level
Table A.77 — Signal: Measurement status – object level
Table A.78 — Enumeration: Measurement status – object level – Example enumerators
A.2.10 Tracking motion model
Table A.79 — Signal: Tracking motion model
Table A.80 — Enumeration: Tracking motion model – Example enumerators
A.2.11 Number of valid potentially moving object classifications
Table A.81 — Signal: Number of valid potentially moving object classifications
A.2.12 Potentially moving object classification type
Table A.82 — Signal: Potentially moving object classification type
Table A.83 — Enumeration: Potentially moving object classification type – Example enumerators
A.2.13 Potentially moving object classification type – confidence
Table A.84 — Signal: Potentially moving object classification type – confidence
A.2.14 Reference point
Table A.85 — Signal: Reference point
Table A.86 — Enumeration: Reference point – Example enumerators
Figure A.2 — Example for reference point of a potentially moving object's bounding box
A.2.15 Position – object level {x, y, z}
Table A.87 — Signal: Position – object level {x, y, z}
A.2.16 Position – object level {x, y, z} – error
Table A.88 — Signal: Position – object level {x, y, z} – error
A.2.17 Orientation {yaw, pitch, roll}
Table A.89 — Signal: Orientation {yaw, pitch, roll}
A.2.18 Orientation {yaw, pitch, roll} – error
Table A.90 — Signal: Orientation {yaw, pitch, roll} – error
A.2.19 Road level
Table A.91 — Signal: Road level
Table A.92 — Enumeration: Road level – Example enumerators
A.2.20 Bounding box extent {length, width, height}
Table A.93 — Signal: Bounding box extent {length, width, height}
Figure A.3 — Example for the signal “Bounding box extent {length, width, height}” (A.2.20)
A.2.21 Bounding box extent {length, width, height} – error
Table A.94 — Signal: Bounding box extent {length, width, height} – error
A.2.22 Clearance of the object {height}
Table A.95 — Signal: Clearance of the object {height}
Figure A.4 — Example for the signal “Clearance of the object {height}” (A.2.22) of a trailer
Figure A.5 — Example for the signal “Clearance of the object {height}” (A.2.22) of a vehicle
A.2.23 Included geometric structures
Table A.96 — Signal: Included geometric structures
Table A.97 — Enumeration: Included geometric structures – Example enumerators
A.2.24 Velocity {x, y, z} – object level
Table A.98 — Signal: Velocity {x, y, z} – object level
Figure A.6 — Example for an ego-vehicle and object dynamics of a potentially moving object
A.2.25 Velocity {x, y, z} – object level – error
Table A.99 — Signal: Velocity {x, y, z} – object level – error
A.2.26 Acceleration {x, y, z}
Table A.100 — Signal: Acceleration {x, y, z}
A.2.27 Acceleration {x, y, z} – error
Table A.101 — Signal: Acceleration {x, y, z} – error
A.2.28 Instantaneous centre of rotation {x, y}
Table A.102 — Signal: Instantaneous centre of rotation {x, y}
A.2.29 Instantaneous centre of rotation {x, y} – error
Table A.103 — Signal: Instantaneous centre of rotation {x, y} – error
A.2.30 Rotation rate at instantaneous centre of rotation {yaw}
Table A.104 — Signal: Rotation rate at instantaneous centre of rotation {yaw}
A.2.31 Rotation rate at instantaneous centre of rotation {yaw} – error
Table A.105 — Signal: Rotation rate at instantaneous centre of rotation {yaw} – error
A.2.32 Movement status
Table A.106 — Signal: Movement status
Table A.107 — Enumeration: Movement status – Example enumerators
A.2.33 Number of valid lights
Table A.108 — Signal: Number of valid lights
A.2.34 Light type
Table A.109 — Signal: Light type
Table A.110 — Enumeration: Light type – Example enumerators
A.2.35 Light status
Table A.111 — Signal: Light status
Table A.112 — Enumeration: Light status – Example enumerators
A.2.36 Number of valid persons
Table A.113 — Signal: Number of valid persons
A.2.37 Number of valid person type roles
Table A.114 — Signal: Number of valid person type roles
A.2.38 Person type role
Table A.115 — Signal: Person type role
Table A.116 — Enumeration: Person type role – Example enumerators
A.2.39 Person type role – confidence
Table A.117 — Signal: Person type role – confidence
A.2.40 Number of valid person gestures
Table A.118 — Signal: Number of valid person gestures
A.2.41 Person gesture indication type
Table A.119 — Signal: Person gesture indication type
Table A.120 — Enumeration: Person gesture indication type – Example enumerators
A.2.42 Person gesture indication type – confidence
Table A.121 — Signal: Person gesture direction type – confidence
A.2.43 Person gesture direction type
Table A.122 — Signal: Person gesture direction type
Table A.123 — Enumeration: Person gesture direction type – Example enumerators
A.2.44 Person gesture direction type – confidence
Table A.124 — Signal: Person gesture direction type – confidence
A.2.45 Number of valid person’s body part poses
Table A.125 — Signal: Number of valid person’s body part poses
A.2.46 Person body part
Table A.126 — Signal: Person body part
Table A.127 — Enumeration: Person body part – Example enumerators
Figure A.7 — Example of person poses’ coordinate systems
A.2.47 Person body part orientation {yaw, pitch, roll}
Table A.128 — Signal: Person body part orientation {yaw, pitch, roll}
A.2.48 Person body part orientation {yaw, pitch, roll} – error
Table A.129 — Signal: Person body part orientation {yaw, pitch, roll} – error
A.2.49 Person body part origin {x, y, z}
Table A.130 — Signal: Person body part origin {x, y, z}
A.2.50 Person body part origin {x, y, z} – error
Table A.131 — Signal: Person body part origin {x, y, z} – error
A.2.51 Eye state
Table A.132 — Signal: Eye state
Table A.133 — Enumeration: Eye state – Example enumerators
A.2.52 Eye state – confidence
Table A.134 — Signal: Eye state – confidence
A.2.53 Viewing fixation time
Table A.135 — Signal: Viewing fixation time
A.2.54 Viewing fixation time – error
Table A.136 — Signal: Viewing fixation time – error
A.2.55 Viewing fixation direction
Table A.137 — Signal: Viewing fixation direction
Table A.138 — Enumeration: Viewing fixation direction – Example enumerators
A.2.56 Viewing fixation direction – confidence
Table A.139 — Signal: Viewing fixation direction – confidence
A.2.57 Action type
Table A.140 — Signal: Action type
Table A.141 — Enumeration: Action type – Example enumerators
A.2.58 Action type – confidence
Table A.142 — Signal: Action type – confidence
A.2.59 Number of valid person accessories
Table A.143 — Signal: Number of valid person accessories
A.2.60 Person accessory classification type
Table A.144 — Signal: Person accessory classification type
Table A.145 — Enumeration: Person accessory classification type – Example enumerators
A.2.61 Person accessory classification type – confidence
Table A.146 — Signal: Person accessory classification type – confidence
A.2.62 Accessory connection to person type
Table A.147 — Signal: Accessory connection to person type
Table A.148 — Enumeration: Accessory connection to person type – Example enumerators
Figure A.8 — Example of the signal “Accessory connection to person type" (A.2.62) with enumerator “ACTPT_HandInFrontOfPerson”
A.2.63 Included geometric structure of accessory
Table A.149 — Signal: Included geometric structure of accessory
Table A.150 — Enumeration: Included geometric structure of accessory – Example enumerators
Figure A.9 — Example of the signal “Included geometric structure of accessory” (A.2.63)
A.2.64 Object lane association
Table A.151 — Signal: Object lane association
Table A.152 — Enumeration: Object lane association – Example enumerators
A.2.65 Angle between object edge and lane {left edge right lane, right edge left lane}
Table A.153 — Signal: Angle between object edge and lane {left edge right lane, right edge left lane}
Figure A.10 — Example for the signal: “Angle between object edge and lane {left edge right lane, right edge left lane}” (A.2.65) with left edge of the object and the right centre of the ego-vehicle lane’s road marking
A.2.66 Angle between object edge and lane {left edge right lane, right edge left lane} – error
Table A.154 — Signal: Angle between object edge and lane {left edge right lane, right edge left lane} – error
A.2.67 Percentage side lane {left, right}
Table A.155 — Signal: Percentage side lane {left, right}
A.2.68 Angular position {azimuth}
Table A.156 — Signal: Angular position {azimuth}
A.2.69 Angular velocity {azimuth}
Table A.157 — Signal: Angular velocity {azimuth}
A.2.70 Scale change – object level
Table A.158 — Signal: Scale change – object level
A.2.71 Entity radar cross section
Table A.159 — Signal: Entity radar cross section
A.2.72 Entity lidar reflectivity
Table A.160 — Signal: Entity lidar reflectivity
A.2.73 Road type – object level
Table A.161 — Signal: Road type – object level
Table A.162 — Enumeration: Road type – object level – Example enumerators
A.2.74 Road type – confidence
Table A.163 — Signal: Road type – confidence
A.2.75 Number of valid road surface classifications
Table A.164 — Signal: Number of valid road surface classifications
A.2.76 Road surface classification type – object level
Table A.165 — Signal: Road surface classification type – object level
Table A.166 — Enumeration: Road surface classification type – object level – Example enumerators
A.2.77 Road surface classification type – confidence
Table A.167 — Signal: Road surface classification type – confidence
A.2.78 Road surface roughness – object level
Table A.168 — Signal: Road surface roughness – object level
A.2.79 Road surface texture – object level
Table A.169 — Signal: Road surface texture – object level
A.2.80 Number of valid road surface condition classifications
Table A.170 — Signal: Number of valid road surface condition classifications
A.2.81 Road surface condition classification type – object level
Table A.171 — Signal: Road surface condition classification type – object level
Table A.172 — Enumeration: Road surface condition classification type – object level – Example enumerators
A.2.82 Road surface condition classification type – confidence
Table A.173 — Signal: Road surface condition classification type – confidence
A.2.83 Number of valid road marking classifications
Table A.174 — Signal: Number of valid road marking classifications
A.2.84 Road marking type
Table A.175 — Signal: Road marking type
Table A.176 — Enumeration: Road marking type – Example enumerators
A.2.85 Road marking type – confidence
Table A.177 — Signal: Road marking type – confidence
A.2.86 Road object lane association
Table A.178 — Signal: Road object lane association
Table A.179 — Enumeration: Road object lane association – Example enumerators
A.2.87 Road object lane association – confidence
Table A.180 — Signal: Road object lane association – confidence
A.2.88 Arrow orientation {yaw}
Table A.181 — Signal: Arrow orientation {yaw}
A.2.89 Arrow direction
Table A.182 — Signal: Arrow direction
Table A.183 — Enumeration: Arrow direction – Example enumerators
A.2.90 Number of valid sign classifications
Table A.184 — Signal: Number of valid sign classifications
A.2.91 Sign classification type
Table A.185 — Signal: Sign classification type
Table A.186 — Enumeration: Sign classification type – Example enumerators
A.2.92 Sign classification type – confidence
Table A.187 — Signal: Sign classification type – confidence
A.2.93 Sign value
Table A.188 — Signal: Sign value
A.2.94 Sign value unit
Table A.189 — Signal: Sign value unit
Table A.190 — Enumeration: Sign value unit – Example enumerators
A.2.95 Sign text
Table A.191 — Signal: Sign text
A.2.96 Sign text font
Table A.192 — Signal: Sign text font
Table A.193 — Enumeration: Sign text font – Example enumerators
A.2.97 Sign text – confidence
Table A.194 — Signal: Sign text – confidence
A.2.98 Number of valid entity states
Table A.195 — Signal: Number of valid entity states
A.2.99 Entity state
Table A.196 — Signal: Entity state
Table A.197 — Enumeration: Entity state – Example enumerators
A.2.100 Colour value – object level
Table A.198 — Signal: Colour value – object level
A.2.101 Colour tone – confidence – object level
Table A.199 — Signal: Colour tone – confidence – object level
A.2.102 Number of valid connections
Table A.200 — Signal: Number of valid connections
A.2.103 Connection type
Table A.201 — Signal: Connection type
Table A.202 — Enumeration: Connection type – Example enumerators
A.2.104 Connection grouping ID
Table A.203 — Signal: Connection grouping ID
A.2.105 Vertex point {x, y, z}
Table A.204 — Signal: Vertex point {x, y, z}
A.2.106 Vertex point {x, y, z} – error
Table A.205 — Signal: Vertex point {x, y, z} – error
A.2.107 Vertex point – confidence {x, y, z}
Table A.206 — Signal: Vertex point – confidence {x, y, z}
A.2.108 Number of valid polynomials
Table A.207 — Signal: Number of valid polynomials
Figure A.11 — Example for a polynomial contour representation
A.2.109 Polynomial coefficient y {c0, c1, c2, c3}
Table A.208 — Signal: Polynomial coefficient y {c0, c1, c2, c3}
A.2.110 Polynomial coefficient z {c0, c1, c2, c3}
Table A.209 — Signal: Polynomial coefficient z {c0, c1, c2, c3}
A.2.111 Polynomial y – error
Table A.210 — Signal: Polynomial y – error
A.2.112 Polynomial z – error
Table A.211 — Signal: Polynomial z – error
A.2.113 Polynomial range x {begin, end}
Table A.212 — Signal: Polynomial range x {begin, end}
Figure A.12 — Example for the signal “Polynomial range x {begin, end}” (A.2.113) for signal “Polynomial coefficient y {c0, c1, c2, c3}” (A.2.109)
A.2.114 Extent {width, height} – polynomial
Table A.213 — Signal: Extent {width, height} – polynomial
A.2.115 Extent {width, height} – polynomial – error
Table A.214 — Signal: Extent {width, height} – polynomial – error
A.2.116 Extent {width, height} – polynomial – confidence
Table A.215 — Signal: Extent {width, height} – polynomial – confidence
A.2.117 Number of valid data ranges
Table A.216 — Signal: Number of valid data ranges
A.2.118 Supported data range x {begin, end}
Table A.217 — Signal: Supported data range x {begin, end}
Figure A.13 — Example for the signal “Supported data range x {begin, end}” (A.2.118) for signal “Polynomial coefficient y {c0, c1, c2, c3}” (A.2.109)
A.2.119 Supported axis
Table A.218 — Signal: Supported axis
Table A.219 — Enumeration: Supported axis
A.2.120 Polyline interpolation method
Table A.220 — Signal: Polyline interpolation method
Table A.221 — Enumeration: Polyline interpolation method – Example enumerators
A.2.121 Number of valid polylines
Table A.222 — Signal: Number of valid polylines
Figure A.14 — Example for a polyline contour representation
A.2.122 Number of valid vertices
Table A.223 — Signal: Number of valid vertices
A.2.123 Extent {width, height} – vertex
Table A.224 — Signal: Extent {width, height} – vertex
A.2.124 Extent {width, height} – vertex – error
Table A.225 — Signal: Extent {width, height} – vertex – error
A.2.125 Extent {width, height} – vertex – confidence
Table A.226 — Signal: Extent {width, height} – vertex – confidence
A.2.126 Number of valid road boundary classifications
Table A.227 — Signal: Number of valid road boundary classifications
A.2.127 Road boundary type
Table A.228 — Signal: Road boundary type
Table A.229 — Enumeration: Road boundary type – Example enumerators
A.2.128 Road boundary type – confidence
Table A.230 — Signal: Road boundary type – confidence
A.2.129 Number of valid general landmark classifications
Table A.231 — Signal: Number of valid general landmark classifications
A.2.130 General landmark classification type
Table A.232 — Signal: General landmark classification type
Table A.233 — Enumeration: General landmark classification type – Example enumerators
A.2.131 General landmark classification type – confidence
Table A.234 — Signal: General landmark classification type – confidence
A.2.132 Sign geometry
Table A.235 — Signal: Sign geometry
Table A.236 — Enumeration: Sign geometry – Example enumerators
A.2.133 Number of valid lane relevance classifications
Table A.237 — Signal: Number of valid lane relevance classifications
A.2.134 Lane relevance classification type
Table A.238 — Signal: Lane relevance classification type
Table A.239 — Enumeration: Lane relevance classification type – Example enumerators
A.2.135 Lane relevance classification type – confidence
Table A.240 — Signal: Lane relevance classification type – confidence
A.2.136 Number of valid traffic supplementary signs
Table A.241 — Signal: Number of valid traffic supplementary signs
A.2.137 Number of valid supplementary sign classifications
Table A.242 — Signal: Number of valid supplementary sign classifications
A.2.138 Supplementary sign classification type
Table A.243 — Signal: Supplementary sign classification type
Table A.244 — Enumeration: Supplementary sign classification type – Example enumerators
A.2.139 Supplementary sign classification type – confidence
Table A.245 — Signal: Supplementary sign classification type – confidence
A.2.140 Relative position
Table A.246 — Signal: Relative position
Table A.247 — Enumeration: Relative position – Example enumerators
Figure A.15 — Example for a traffic sign – a main sign with two supplementary signs
A.2.141 Relative position order
Table A.248 — Signal: Relative position order
A.2.142 Position uv_origin {x, y, z}
Table A.249 — Signal: Position uv_origin {x, y, z}
Figure A.16 — Affine object coordinate system of a traffic sign board
A.2.143 Position uv_origin {x, y, z} – error
Table A.250 — Signal: Position uv_origin {x, y, z} – error
A.2.144 Position u_end {x, y, z}
Table A.251 — Signal: Position u_end {x, y, z}
A.2.145 Position u_end {x, y, z} – error
Table A.252 — Signal: Position u_end {x, y, z} – error
A.2.146 Position v_end {x, y, z}
Table A.253 — Signal: Position v_end {x, y, z}
A.2.147 Position v_end {x, y, z} – error
Table A.254 — Signal: Position v_end {x, y, z} – error
A.2.148 Ratio U- to V-axis
Table A.255 — Signal: Ratio U- to V-axis
A.2.149 Ratio U- to V-axis – error
Table A.256 — Signal: Ratio U- to V-axis – error
A.2.150 Number of valid traffic sign board regions
Table A.257 — Signal: Number of valid traffic sign board regions
A.2.151 Sign board entity ID
Table A.258 — Signal: Sign board entity ID
Figure A.17 — Example for a logical hierarchy of traffic sign board region entities
Figure A.18 — Example for a logical hierarchy of traffic sign board guiding graph entities
A.2.152 Number of valid entity ID references – object level
Table A.259 — Signal: Number of valid entity ID references – object level
A.2.153 Sign board entity ID reference – object level
Table A.260 — Signal: Sign board entity ID reference – object level
A.2.154 Border width {u, v}
Table A.261 — Signal: Border width {u, v}
Figure A.19 — Example of a traffic sign board with text on guiding graph which has a borderline
A.2.155 Border width {u, v} – error
Table A.262 — Signal: Border width {u, v} – error
A.2.156 Traffic sign board region – confidence
Table A.263 — Signal: Traffic sign board region – confidence
A.2.157 Number of valid colour tones
Table A.264 — Signal: Number of valid colour tones
A.2.158 Colour tone type
Table A.265 — Signal: Colour tone type
Table A.266 — Enumeration: Colour tone type
A.2.159 Number of valid vertex points
Table A.267 — Signal: Number of valid vertex points
A.2.160 Local position {u, v}
Table A.268 — Signal: Local position {u, v}
A.2.161 Local position {u, v} – error
Table A.269 — Signal: Local position {u, v} – error
A.2.162 Number of valid traffic sign board guiding graphs
Table A.270 — Signal: Number of valid traffic sign board guiding graphs
Figure A.20 — Example for a traffic sign board with guiding graph(s)
A.2.163 Traffic sign board guiding graph – confidence
Table A.271 — Signal: Traffic sign board guiding graph – confidence
A.2.164 Local position ID
Table A.272 — Signal: Local position ID
Figure A.21 — Two examples for traffic sign board guiding graphs and their vertex point IDs “Local position ID” (A.2.164)
A.2.165 Number of valid edges
Table A.273 — Signal: Number of valid edges
A.2.166 Local position ID reference {begin, end}
Table A.274 — Signal: Local position ID reference {begin, end}
Figure A.22 — Two examples for a traffic sign board guiding graphs with their vertex points and edges
A.2.167 Edge type
Table A.275 — Signal: Edge type
Table A.276 — Enumeration: Edge type – Example enumerators
A.2.168 Edge width {u, v}
Table A.277 — Signal: Edge width {u, v}
A.2.169 Edge width {u, v} – error
Table A.278 — Signal: Edge width {u, v} – error
A.2.170 Edge curve type
Table A.279 — Signal: Edge curve type
Table A.280 — Enumeration: Edge curve type – Example enumerators
A.2.171 Arrow type
Table A.281 — Signal: Arrow type
Table A.282 — Enumeration: Arrow type – Example enumerators
A.2.172 Number of valid traffic sign board texts
Table A.283 — Signal: Number of valid traffic sign board texts
A.2.173 Bounding box {uBegin, uEnd, vBegin, vEnd}
Table A.284 — Signal: Bounding box {uBegin, uEnd, vBegin, vEnd}
A.2.174 Bounding box {uBegin, uEnd, vBegin, vEnd} – error
Table A.285 — Signal: Bounding box {uBegin, uEnd, vBegin, vEnd} – error
A.2.175 Number of valid traffic sign board icons and symbols
Table A.286 — Signal: Number of valid traffic sign board icons and symbols
A.2.176 Icon and symbol type
Table A.287 — Signal: Icon and symbol type
Table A.288 — Enumeration: Icon and symbol type – Example enumerators
A.2.177 Icon and symbol type – confidence
Table A.289 — Signal: Icon and symbol type – confidence
A.2.178 Number of valid traffic sign board object references
Table A.290 — Signal: Number of valid traffic sign board object references
A.2.179 Object ID reference – object level
Table A.291 — Signal: Object ID reference – object level
A.2.180 Object ID reference – confidence
Table A.292 — Signal: Object ID reference – confidence
A.2.181 Number of valid traffic sign board occlusions
Table A.293 — Signal: Number of valid traffic sign board occlusions
A.2.182 Occlusion type
Table A.294 — Signal: Occlusion type
Table A.295 — Enumeration: Occlusion type – Example enumerators
A.2.183 Occlusion type – confidence
Table A.296 — Signal: Occlusion type – confidence
A.2.184 Number of valid structure light classifications
Table A.297 — Signal: Number of valid structure light classifications
A.2.185 Structure light classification type
Table A.298 — Signal: Structure light classification type
Table A.299 — Enumeration: Structure light classification type – Example enumerators
A.2.186 Structure light classification type – confidence
Table A.300 — Signal: Structure light classification type – confidence
A.2.187 Minimum visibility distance
Table A.301 — Signal: Minimum visibility distance
A.2.188 Total number of traffic light spots
Table A.302 — Signal: Total number of traffic light spots
A.2.189 Total number of traffic light spots – confidence
Table A.303 — Signal: Total number of traffic light spots – confidence
A.2.190 Number of valid traffic light spots
Table A.304 — Signal: Number of valid traffic light spots
A.2.191 Number of valid light shape classifications
Table A.305 — Signal: Number of valid light shape classifications
A.2.192 Light shape classification type
Table A.306 — Signal: Light shape classification type
Table A.307 — Enumeration: Light shape classification type – Example enumerators
A.2.193 Light shape classification type – confidence
Table A.308 — Signal: Light shape classification type – confidence
A.2.194 Light shape value
Table A.309 — Signal: Light shape value
A.2.195 Number of valid colour classifications
Table A.310 — Signal: Number of valid colour classifications
A.2.196 Colour classification type
Table A.311 — Signal: Colour classification type
Table A.312 — Enumeration: Colour classification type – Example enumerators
A.2.197 Colour classification type – confidence
Table A.313 — Signal: Colour classification type – confidence
A.2.198 Number of valid light mode classifications
Table A.314 — Signal: Number of valid light mode classifications
A.2.199 Light mode classification type
Table A.315 — Signal: Light mode classification type
Table A.316 — Enumeration: Light mode classification type – Example enumerators
A.2.200 Light mode classification type – confidence
Table A.317 — Signal: Light mode classification type – confidence
A.2.201 Free space type
Table A.318 — Signal: Free space type
Table A.319 — Enumeration: Free space type
Figure A.23 — Example for signal “Free space type” (A.2.201) as enumerator “FST_LimitedByStatic” and signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineOpen”
Figure A.24 — Example for signal “Free space type” (A.2.201) as enumerator “FST_PerceivedLimitedByStatic” and signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineClosed”
Figure A.25 — Example for signal “Free space type” (A.2.201) as enumerator “FST_PerceivedLimitedByStaticAndDynamic” and signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineClosed”
A.2.202 Number of valid free space area shapes
Table A.320 — Signal: Number of valid free space area shapes
A.2.203 Limitation geometry type
Table A.321 — Signal: Limitation geometry type
Table A.322 — Enumeration: Limitation geometry type
A.2.204 Shape type – object level
Table A.323 — Signal: Shape type – object level
Table A.324 — Enumeration: Shape type – object level – Example enumerators
Figure A.26 — Example for signal “Shape type – object level” (A.2.204) as enumerator “ST_Sector” and signal “Limitation geometry type” (A.2.203) as enumerator “LGT_Edge”
Figure A.27 — Example for signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineClosed” and signal “Limitation geometry type” (A.2.203) as enumerator “LGT_Edge”
A.2.205 Sector common vertex point {x, y, z}
Table A.325 — Signal: Sector common vertex point {x, y, z}
A.2.206 Sector common vertex point {x, y, z} – error
Table A.326 — Signal: Sector common vertex point {x, y, z} – error
A.2.207 Sector common vertex point – confidence {x, y, z}
Table A.327 — Signal: Vertex point – confidence {x, y, z}
A.2.208 Limitation reason
Table A.328 — Signal: Limitation reason
Table A.329 — Enumeration: Limitation reason – Example enumerators
A.2.209 Limitation moving probability
Table A.330 — Signal: Limitation moving probability
A.2.210 Limitation {radial extent, height}
Table A.331 — Signal: Limitation {radial extent, height}
Figure A.28 — Example for signal “Limitation {radial extent, height}” (A.2.210) and signal “Clearance {height}” (A.2.213) of a free space area
A.2.211 Limitation {radial extent, height} – error
Table A.332 — Signal: Limitation {radial extent, height} – error
A.2.212 Limitation– confidence {radial extent, height}
Table A.333 — Signal: Limitation– confidence {radial extent, height}
A.2.213 Clearance {height}
Table A.334 — Signal: Clearance {height}
A.2.214 Clearance {height} – error
Table A.335 — Signal: Clearance {height} – error
A.2.215 Clearance – confidence {height}
Table A.336 — Signal: Clearance – confidence {height}
A.3 Feature level entity signals
A.3.1 Existence probability – feature level
Table A.337 — Signal: Existence probability – feature level
A.3.2 Feature ID
Table A.338 — Signal: Feature ID
A.3.3 Object ID reference – feature level
Table A.339 — Signal: Object ID reference – feature level
A.3.4 Time stamp difference – feature level
Table A.340 — Signal: Time stamp difference – feature level
A.3.5 Number of valid observations – feature level
Table A.341 — Signal: Number of valid observations – feature level
A.3.6 Time stamp reference – feature level
Table A.342 — Signal: Time stamp reference – feature level
A.3.7 Observation status – feature level
Table A.343 — Signal: Observation status – feature level
Table A.344 — Enumeration: Observation status – feature level – Example enumerators
A.3.8 Feature grouping ID
Table A.345 — Signal: Feature grouping ID
A.3.9 Number of valid shape classifications – feature level
Table A.346 — Signal: Number of valid shape classifications – feature level
A.3.10 Shape classification type – feature level
Table A.347 — Signal: Shape classification type – feature level
Table A.348 — Enumeration: Shape classification type – feature level – Example enumerators
A.3.11 Shape classification type – confidence – feature level
Table A.349 — Signal: Shape classification type – confidence – feature level
A.3.12 Colour value – feature level
Table A.350 — Signal: Colour value – feature level
A.3.13 Colour tone – confidence – feature level
Table A.351 — Signal: Colour tone – confidence – feature level
A.3.14 Shape type – feature level
Table A.352 — Signal: Shape type – feature level
Table A.353 — Enumeration: Shape type – feature level – Example enumerators
A.3.15 Number of valid shape points – feature level
Table A.354 — Signal: Number of valid shape points – feature level
A.3.16 Point existence probability – feature level
Table A.355 — Signal: Point existence probability – feature level
A.3.17 Position – feature level {x, y, z}
Table A.356 — Signal: Position – feature level {x, y, z}
A.3.18 Position – feature level {x, y, z} – error
Table A.357 — Signal: Position – feature level {x, y, z} – error
A.3.19 Number of valid shape reference points – feature level
Table A.358 — Signal: Number of valid shape reference points – feature level
A.3.20 Shape surface normal {x, y, z}
Table A.359 — Signal: Shape surface normal {x, y, z}
A.3.21 Shape surface normal {x, y, z} – error
Table A.360 — Signal: Shape surface normal {x, y, z} – error
A.3.22 Translation rate {x, y, z} – feature level
Table A.361 — Signal: Translation rate {x, y, z} – feature level
A.3.23 Translation rate {x, y, z} – feature level – error
Table A.362 — Signal: Translation rate {x, y, z} – feature level – error
A.3.24 Rotation rate {yaw, pitch, roll} – feature level
Table A.363 — Signal: Rotation rate {yaw, pitch, roll} – feature level
A.3.25 Rotation rate {yaw, pitch, roll} – error – feature level
Table A.364 — Signal: Rotation rate {yaw, pitch, roll} – error – feature level
A.3.26 Scale change – feature level
Table A.365 — Signal: Scale change – feature level
A.3.27 Scale change – feature level – error
Table A.366 — Signal: Scale change – feature level – error
A.3.28 Number of valid ultrasonic feature classifications
Table A.367 — Signal: Number of valid ultrasonic feature classifications
A.3.29 Ultrasonic feature classification type
Table A.368 — Signal: Ultrasonic feature classification type
Table A.369 — Enumeration: Ultrasonic feature classification type – Example enumerators
A.3.30 Ultrasonic feature classification type – confidence
Table A.370 — Signal: Ultrasonic feature classification type – confidence
A.3.31 Number of valid points
Table A.371 — Signal: Number of valid points
A.3.32 Orientation – feature level {pitch}
Table A.372 — Signal: Orientation – feature level {pitch}
A.3.33 Orientation – feature level {pitch} – error
Table A.373 — Signal: Orientation – feature level {pitch} – error
A.3.34 Extent {height} – feature level
Table A.374 — Signal: Extent {height} – feature level
A.3.35 Extent {height} – feature level – error
Table A.375 — Signal: Extent {height} – feature level – error
A.3.36 Velocity {x, y} – feature level
Table A.376 — Signal: Velocity {x, y} – feature level
A.3.37 Velocity {x, y} – feature level – error
Table A.377 — Signal: Velocity {x, y} – feature level – error
A.3.38 Trilateration status
Table A.378 — Signal: Trilateration status
Table A.379 — Enumeration: Trilateration status – Example enumerators
A.3.39 Measurement status – feature level
Table A.380 — Signal: Measurement status – feature level
Table A.381 — Enumeration: Measurement status – feature level – Example enumerators
A.4 Detection level entity signals
A.4.1 Existence probability – detection level
Table A.382 — Signal: Existence probability – detection level
A.4.2 Detection ID
Table A.383 — Signal: Detection ID
A.4.3 Object ID reference – detection level
Table A.384 — Signal: Object ID reference – detection level
A.4.4 Feature ID reference
Table A.385 — Signal: Feature ID reference
A.4.5 Time stamp difference – detection level
Table A.386 — Signal: Time stamp difference – detection level
A.4.6 Radar cross section
Table A.387 — Signal: Radar cross section
A.4.7 Radar cross section – error
Table A.388 — Signal: Radar cross section – error
A.4.8 Signal to noise ratio – detection level
Table A.389 — Signal: Signal to noise ratio – detection level
A.4.9 Signal to noise ratio – detection level – error
Table A.390 — Signal: Signal to noise ratio – detection level – error
A.4.10 Multi target probability
Table A.391 — Signal: Multi target probability
A.4.11 Ambiguity grouping ID
Table A.392 — Signal: Ambiguity grouping ID
A.4.12 Detection ambiguity probability
Table A.393 — Signal: Detection ambiguity probability
A.4.13 Free space probability
Table A.394 — Signal: Free space probability
A.4.14 Number of valid detection classifications
Table A.395 — Signal: Number of valid detection classifications
A.4.15 Detection classification type
Table A.396 — Signal: Detection classification type
Table A.397 — Enumeration: Detection classification type – Example enumerators
A.4.16 Detection classification type – confidence
Table A.398 — Signal: Detection classification type – confidence
A.4.17 Position {radial distance, azimuth, elevation}
Table A.399 — Signal: Position {radial distance, azimuth, elevation}
A.4.18 Position {radial distance, azimuth, elevation} – error
Table A.400 — Signal: Position {radial distance, azimuth, elevation} – error
A.4.19 Relative velocity {radial distance}
Table A.401 — Signal: Relative velocity {radial distance}
A.4.20 Relative velocity {radial distance} – error
Table A.402 — Signal: Relative velocity {radial distance} – error
A.4.21 Reflectivity
Table A.403 — Signal: Reflectivity
A.4.22 Reflectivity – error
Table A.404 — Signal: Reflectivity – error
A.4.23 Extent {height} – lidar
Table A.405 — Signal: Extent {height} – lidar
A.4.24 Extent {height} – lidar – error
Table A.406 — Signal: Extent {height} – lidar – error
A.4.25 Number of valid shape classifications – detection level
Table A.407 — Signal: Number of valid shape classifications – detection level
A.4.26 Shape classification type – detection level
Table A.408 — Signal: Shape classification type – detection level
Table A.409 — Enumeration: Shape classification type – detection level – Example enumerators
A.4.27 Shape classification type – confidence – detection level
Table A.410 — Signal: Shape classification type – confidence – detection level
Table A.411 — Enumeration: Shape classification type – confidence – detection level – Example enumerators
A.4.28 Shape ambiguity grouping ID
Table A.412 — Signal: Shape ambiguity grouping ID
A.4.29 Colour value – detection level
Table A.413 — Signal: Colour value – detection level
A.4.30 Colour tone – confidence – detection level
Table A.414 — Signal: Colour tone – confidence – detection level
A.4.31 Shape type – detection level
Table A.415 — Signal: Shape type – detection level
Table A.416 — Enumeration: Shape type – detection level – Example enumerators
A.4.32 Number of valid shape points – detection level
Table A.417 — Signal: Number of valid shape points – detection level
A.4.33 Point existence probability – detection level
Table A.418 — Signal: Point existence probability – detection level
A.4.34 Number of valid shape reference points – detection level
Table A.419 — Signal: Number of valid shape reference points – detection level
A.4.35 Detection ID reference – detection level
Table A.420 — Signal: Detection ID reference – detection level
A.4.36 Extent {azimuth, elevation}
Table A.421 — Signal: Extent {azimuth, elevation}
A.4.37 Extent {azimuth, elevation} – error
Table A.422 — Signal: Extent {azimuth, elevation} – error
A.4.38 Translation rate {radial distance, azimuth, elevation} – detection level
Table A.423 — Signal: Translation rate {radial distance, azimuth, elevation} – detection level
A.4.39 Translation rate {radial distance, azimuth, elevation} – detection level – error
Table A.424 — Signal: Translation rate {radial distance, azimuth, elevation} – detection level – error
A.4.40 Second sensor ID reference
Table A.425 — Signal: Second sensor ID reference
A.4.41 Distance
Table A.426 — Signal: Distance
Figure A.29 — Example for a detection where emitting and sensing element is the same (real sensor)
Figure A.30 — Example for an ultrasonic detection where emitting- and sensing element are different (virtual sensor)
A.4.42 Distance – error
Table A.427 — Signal: Distance – error
A.4.43 Extent {height} – ultrasonic
Table A.428 — Signal: Extent {height} – ultrasonic
A.4.44 Extent {height} – ultrasonic – error
Table A.429 — Signal: Extent {height} – ultrasonic – error
A.5 Supportive sensor interface entity signals
A.5.1 Segment azimuth – supportive sensor level {begin, end}
Table A.430 — Signal: Segment azimuth – supportive sensor level {begin, end}
Figure A.31 — Example for the signal “Segment azimuth – supportive sensor level {begin, end}” (A.5.1) in XY-plane
A.5.2 Segment elevation – supportive sensor level {begin, end}
Table A.431 — Signal: Segment elevation – supportive sensor level {begin, end}
Figure A.32 — Example for the signal “Segment elevation – supportive sensor level {begin, end}” (A.5.2) in XZ-plane
A.5.3 Measurement grid resolution {radial distance, azimuth, elevation}
Table A.432 — Signal: Measurement grid resolution {radial distance, azimuth, elevation}
A.5.4 Beam divergence {azimuth, elevation}
Table A.433 — Signal: Beam divergence {azimuth, elevation}
A.5.5 Range gain
Table A.434 — Signal: Range gain
A.5.6 Blockage status
Table A.435 — Signal: Blockage status
Table A.436 — Enumeration: Blockage status – Example enumerators
A.5.7 Number of valid field-of-view reduction reasons
Table A.437 — Signal: Number of valid field-of-view reduction reasons
A.5.8 Field-of-view reduction reason type
Table A.438 — Signal: Field-of-view reduction reason type
Table A.439 — Enumeration: Field-of-view reduction reason type – Example enumerators
A.5.9 Field-of-view reduction reason type – confidence
Table A.440 — Signal: Field-of-view reduction reason type – confidence
A.5.10 Number of valid recognisable object types
Table A.441 — Signal: Number of valid recognisable object types
A.5.11 Recognised object type
Table A.442 — Signal: Recognised object type
Table A.443 — Enumeration: Recognised object type – Example enumerators
A.5.12 Detection range radial distance {begin, end}
Table A.444 — Signal: Detection range radial distance {begin, end}
Figure A.33 — Example for the signal “Detection range radial distance {begin, end}” (A.5.12) of FOV segments
A.5.13 True positive rate
Table A.445 — Signal: True positive rate
A.5.14 False positive rate
Table A.446 — Signal: False positive rate
A.5.15 Positive predictive value
Table A.447 — Signal: Positive predictive value
A.5.16 Number of valid reference target types
Table A.448 — Signal: Number of valid reference target types
A.5.17 Reference target type
Table A.449 — Signal: Reference target type
Table A.450 — Enumeration: Reference target type – Example enumerators
A.5.18 Radar cross section reference target
Table A.451 — Signal: Radar cross section reference target
A.5.19 Reflectivity reference target
Table A.452 — Signal: Reflectivity reference target
A.5.20 Relative radial velocity range {begin, end}
Table A.453 — Signal: Relative radial velocity range {begin, end}
A.5.21 Signal to noise ratio – supportive level
Table A.454 — Signal: Signal to noise ratio – supportive level
A.5.22 Spatial separability {radial distance, azimuth, elevation}
Table A.455 — Signal: Spatial separability {radial distance, azimuth, elevation}
A.5.23 Velocity separability {radial distance, azimuth, elevation}
Table A.456 — Signal: Velocity separability {radial distance, azimuth, elevation}
A.5.24 Number of valid sensor operation modes
Table A.457 — Signal: Number of valid sensor operation modes
A.5.25 Sensor operation mode
Table A.458 — Signal: Sensor operation mode
Table A.459 — Enumeration: Sensor operation mode – Example enumerators
A.5.26 Sensor defect recognised
Table A.460 — Signal: Sensor defect recognised
Table A.461 — Enumeration: Sensor defect recognised – Example enumerators
A.5.27 Sensor defect reason
Table A.462 — Signal: Sensor defect reason
Table A.463 — Enumeration: Sensor defect reason – Example enumerators
A.5.28 Supply voltage status
Table A.464 — Signal: Supply voltage status
Table A.465 — Enumeration: Supply voltage status – Example enumerators
A.5.29 Sensor temperature status
Table A.466 — Signal: Sensor temperature status
Table A.467 — Enumeration: Sensor temperature status – Example enumerators
A.5.30 Number of valid sensor input signal statuses
Table A.468 — Signal: Number of valid sensor input signal statuses
A.5.31 Sensor input signal type
Table A.469 — Signal: Sensor input signal type
Table A.470 — Enumeration: Sensor input signal type – Example enumerators
A.5.32 Sensor input signal status
Table A.471 — Signal: Sensor input signal status
Table A.472 — Enumeration: Sensor input signal status – Example enumerators
A.5.33 Sensor externally disturbed
Table A.473 — Signal: Sensor externally disturbed
Table A.474 — Enumeration: Sensor externally disturbed – Example enumerators
A.5.34 Sensor transmit power reduced
Table A.475 — Signal: Sensor transmit power reduced
Table A.476 — Enumeration: Sensor transmit power reduced – Example enumerators
A.5.35 Sensor heating status
Table A.477 — Signal: Sensor heating status
Table A.478 — Enumeration: Sensor heating status – Example enumerators
A.5.36 Sensor cleaning status
Table A.479 — Signal: Sensor cleaning status
Table A.480 — Enumeration: Sensor cleaning status – Example enumerators
A.5.37 Sensor time sync
Table A.481 — Signal: Sensor time sync
Table A.482 — Enumeration: Sensor time sync – Example enumerators
A.5.38 Sensor time sync offset value
Table A.483 — Signal: Sensor time sync offset value
A.5.39 Number of valid sensor-calibratable components
Table A.484 — Signal: Number of valid sensor-calibratable components
A.5.40 Sensor-calibratable component
Table A.485 — Signal: Sensor-calibratable component
Table A.486 — Enumeration: Sensor-calibratable component – Example enumerators
A.5.41 Sensor calibration status
Table A.487 — Signal: Sensor calibration status
Table A.488 — Enumeration: Sensor calibration status – Example enumerators
A.5.42 Calibration process state
Table A.489 — Signal: Calibration process state
Table A.490 — Enumeration: Calibration process state – Example enumerators
A.5.43 Sensor origin point – correction {x, y, z}
Table A.491 — Signal: Sensor origin point – correction {x, y, z}
A.5.44 Sensor origin point – correction {x, y, z} – error
Table A.492 — Signal: Sensor origin point – correction {x, y, z} – error
A.5.45 Sensor origin translation – correction limit {xbegin, xend, ybegin, yend, zbegin, zend}
Table A.493 — Signal: Sensor origin translation – correction limit {xbegin, xend, ybegin, yend, zbegin, zend}
A.5.46 Sensor orientation – correction {yaw, pitch, roll}
Table A.494 — Signal: Sensor orientation – correction {yaw, pitch, roll}
A.5.47 Sensor orientation – correction {yaw, pitch, roll} – error
Table A.495 — Signal: Sensor orientation – correction {yaw, pitch, roll} – error
A.5.48 Sensor pose angle – correction limit {yawbegin, yawend, pitchbegin, pitchend, rollbegin, rollend}
Table A.496 — Signal: Sensor pose angle – correction limit {yawbegin, yawend, pitchbegin, pitchend, rollbegin, rollend}
A.5.49 Number of valid sensors
Table A.497 — Signal: Number of valid sensors
A.5.50 Sensor ID reference
Table A.498 — Signal: Sensor ID reference
A.6 Sensor input interface signals
A.6.1 Sensor operation mode command
Table A.499 — Signal: Sensor operation mode command
Table A.500 — Enumeration: Sensor operation mode command – Example enumerators
A.6.2 Weather condition
Table A.501 — Signal: Weather condition
Table A.502 — Enumeration: Weather condition – Example enumerators
A.6.3 Fog
Table A.503 — Signal: Fog
Table A.504 — Enumeration: Fog – Example enumerators
A.6.4 Precipitation
Table A.505 — Signal: Precipitation
Table A.506 — Enumeration: Precipitation – Example enumerators
A.6.5 Number of valid absorption models
Table A.507 — Signal: Number of valid absorption models
A.6.6 Absorption coefficient
Table A.508 — Signal: Absorption coefficient
A.6.7 Absorption wavelength
Table A.509 — Signal: Absorption wavelength
Table A.510 — Enumeration: Absorption wavelength – Example enumerators
A.6.8 Ambient illumination
Table A.511 — Signal: Ambient illumination
Table A.512 — Enumeration: Ambient illumination – Example enumerators
A.6.9 Air temperature
Table A.513 — Signal: Air temperature
A.6.10 Air temperature – error
Table A.514 — Signal: Air temperature – error
A.6.11 Atmospheric pressure
Table A.515 — Signal: Atmospheric pressure
A.6.12 Atmospheric pressure – error
Table A.516 — Signal: Atmospheric pressure – error
A.6.13 Relative humidity
Table A.517 — Signal: Relative humidity
A.6.14 Relative humidity – error
Table A.518 — Signal: Relative humidity – error
A.6.15 Global time stamp
Table A.519 — Signal: Global time stamp
A.6.16 Road type – input level
Table A.520 — Signal: Road type – input level
Table A.521 — Enumeration: Road type – input level – Example enumerators
A.6.17 Road surface temperature
Table A.522 — Signal: Road surface temperature
A.6.18 Road surface water film
Table A.523 — Signal: Road surface water film
A.6.19 Road surface freezing point
Table A.524 — Signal: Road surface freezing point
A.6.20 Road surface ice coverage
Table A.525 — Signal: Road surface ice coverage
A.6.21 Road surface classification type – input level
Table A.526 — Signal: Road surface classification type – input level Road surface roughness
Table A.527 — Enumeration: Road surface classification type – input level – Example enumerators
A.6.22 Road surface roughness – input level
Table A.528 — Signal: Road surface roughness – input level
A.6.23 Road surface condition classification type – input level
Table A.529 — Signal: Road surface condition classification type – input level
Table A.530 — Enumeration: Road surface condition classification type – input level – Example enumerators
A.6.24 Road surface texture – input level
Table A.531 — Signal: Road surface texture – input level
A.6.25 Vehicle coordinate system type – input level
Table A.532 — Signal: Vehicle coordinate system type – input level
Table A.533 — Enumeration: Vehicle coordinate system type – input level
A.6.26 Vehicle state reference point type
Table A.534 — Signal: Vehicle state reference point type
Table A.535 — Enumeration: Vehicle state reference point type
A.6.27 Velocity {x, y, z} – input level
Table A.536 — Signal: Velocity {x, y, z} – input level
A.6.28 Velocity {x, y, z} – error – input level
Table A.537 — Signal: Velocity {x, y, z} – error – input level
A.6.29 Acceleration {x, y, z} – input level
Table A.538 — Signal: Acceleration {x, y, z} – input level
A.6.30 Acceleration {x, y, z} – error – input level
Table A.539 — Signal: Acceleration {x, y, z} – error – input level
A.6.31 Jerk {x}
Table A.540 — Signal: Jerk {x}
A.6.32 Jerk {x} – error
Table A.541 — Signal: Jerk {x} – error
A.6.33 Rotation rate {yaw, pitch, roll} – input level
Table A.542 — Signal: Rotation rate {yaw, pitch, roll} – input level
A.6.34 Rotation rate {yaw, pitch, roll} – error – input level
Table A.543 — Signal: Rotation rate {yaw, pitch, roll} – error – input level
A.6.35 Angular wheel position {FLP, FRP, RLP, RRP}
Table A.544 — Signal: Angular wheel position {FLP, FRP, RLP, RRP}
A.6.36 Angular wheel velocity {FLP, FRP, RLP, RRP}
Table A.545 — Signal: Angular wheel velocity {FLP, FRP, RLP, RRP}
A.6.37 Angular wheel velocity {FLP, FRP, RLP, RRP} – error
Table A.546 — Signal: Angular wheel velocity {FLP, FRP, RLP, RRP} – error
A.6.38 Slip angle {FLP, FRP, RLP, RRP}
Table A.547 — Signal: Slip angle {FLP, FRP, RLP, RRP}
A.6.39 Active suspension {FLP, FRP, RLP, RRP}
Table A.548 — Signal: Active suspension {FLP, FRP, RLP, RRP}
A.6.40 Steering angle
Table A.549 — Signal: Steering angle
A.6.41 Steering angle – error
Table A.550 — Signal: Steering angle – error
A.6.42 Vehicle global position {latitude, longitude, altitude}
Table A.551 — Signal: Vehicle global position {latitude, longitude, altitude}
A.6.43 Vehicle global position {latitude, longitude, altitude} – error
Table A.552 — Signal: Vehicle global position {latitude, longitude, altitude} – error
A.6.44 Vehicle global orientation {yaw, pitch, roll}
Table A.553 — Signal: Vehicle global orientation {yaw, pitch, roll}
A.6.45 Wheel rotation direction {FLP, FRP, RLP, RRP}
Table A.554 — Signal: Wheel rotation direction {FLP, FRP, RLP, RRP}
Table A.555 — Enumeration: Wheel rotation direction {FLP, FRP, RLP, RRP} – Example enumerators
A.6.46 Wheel tick count {FLP, FRP, RLP, RRP}
Table A.556 — Signal: Wheel tick count {FLP, FRP, RLP, RRP}
A.6.47 Gear position
Table A.557 — Signal: Gear position
Table A.558 — Enumeration: Gear position – Example enumerators
A.6.48 Brake activation level
Table A.559 — Signal: Brake activation level
Table A.560 — Enumeration: Gear position – Example enumerators
A.6.49 Vehicle motion state
Table A.561 — Signal: Vehicle motion state
Table A.562 — Enumeration: Vehicle motion state – Example enumerators
A.6.50 Current region
Table A.563 — Signal: Current region
Table A.564 — Enumeration: Current region – Example enumerators
A.6.51 Current traffic flow type
Table A.565 — Signal: Current traffic flow type
Table A.566 — Enumeration: Current traffic flow type – Example enumerators
A.6.52 Trailer type
Table A.567 — Signal: Trailer type
Table A.568 — Enumeration: Trailer type – Example enumerators
A.6.53 Park brake state
Table A.569 — Signal: Park brake state
Table A.570 — Enumeration: Park brake state – Example enumerators
A.6.54 Vehicle body position {z}
Table A.571 — Signal: Vehicle body position {z}
A.6.55 Vehicle body orientation {pitch, roll}
Table A.572 — Signal: Vehicle body orientation {pitch, roll}
A.6.56 Sensor origin point {x, y, z} – input level
Table A.573 — Signal: Sensor origin point {x, y, z} – input level
A.6.57 Sensor orientation {yaw, pitch, roll} – input level
Table A.574 — Signal: Sensor orientation {yaw, pitch, roll} – input level
A.6.58 Reporting interface …> – command
Table A.575 — Enumeration: Reporting interface …> – command – Example enumerators
A.6.58.1 Reporting interface PMOI – command
Table A.576 — Signal: Reporting interface PMOI – command
A.6.58.2 Reporting interface RDOI – command
Table A.577 — Signal: Reporting interface RDOI – command
A.6.58.3 Reporting interface SOI – command
Table A.578 — Signal: Reporting interface SOI – command
A.6.58.4 Reporting interface FSAOI – command
Table A.579 — Signal: Reporting interface FSAOI – command
A.6.58.5 Reporting interface FLI – command
Table A.580 — Signal: Reporting interface FLI – command
A.6.58.6 Reporting interface DLI – command
Table A.581 — Signal: Reporting interface DLI – command
A.6.58.7 Reporting interface SPI – command
Table A.582 — Signal: Reporting interface SPI – command
A.6.58.8 Reporting interface SHII – command
Table A.583 — Signal: Reporting interface SHII – command
A.6.59 Number of valid region-of-interest segments
Table A.584 — Signal: Number of valid region-of-interest segments
A.6.60 Segment azimuth – input level {begin, end}
Table A.585 — Signal: Segment azimuth – input level {begin, end}
A.6.61 Segment elevation – input level {begin, end}
Table A.586 — Signal: Segment elevation – input level {begin, end}
A.6.62 Resolution type {azimuth, elevation}
Table A.587 — Signal: Resolution type {azimuth, elevation}
Table A.588 — Enumeration: Resolution type {azimuth, elevation} – Example enumerators
Annex B (normative) Options and constraints
B.1 Options for interface optimisation
B.1.1 List length optimisation
B.1.2 Redundancy optimisation
B.1.3 Alternative value representation optimisation
B.1.4 Alternative entity representation optimisation
B.1.5 Implicit values
B.1.6 Unrolling tuple-lists
B.1.7 Default enumerators
B.2 Requirement level conditional reasons
B.2.1 Sensor technology specific conditional requirements
B.2.2 Signal dependencies
B.2.3 Multiple entity types for one interface
B.3 Cross interface optimisation
B.3.1 Link between interfaces
B.3.2 Assignment of information to one interface
B.3.3 Need of logical signal group
B.3.4 Source entities of a derived signal
Table B.1 — Template LSG for a signal “xxx” to reference source entities
Table B.2 Number of valid sensing elements which generate the signal “xxx” – Annex B.3.4
Table B.3 Number of valid serving sensors – Annex B.3.4
Table B.4 Sensor ID reference – Annex B.3.4
Table B.5 Detection ID reference – Annex B.3.4
B.4 Cross interface definition
B.4.1 Error model implementation
Figure B.1 — Error classes using four examples of populations
B.4.1.1 Statistic
Figure B.2 — Example for a histogram of a population
B.4.1.2 Signal values and associated signal error value calculation method
B.4.1.2.1 Signal value as sample mean, signal error value as sample standard deviation
Table B.6 — Estimator names and formulas for the signal value and signal error value
Figure B.3 — Example for mean value and standard deviation value
B.4.1.2.2 Signal value as sample median, signal error value as sample interquartile range
Table B.7 — Estimator names and formulas for the signal value and signal error value
Figure B.4 — Example for quartiles, median value and IQR value
B.4.1.2.3 Signal value as sample mean vector, signal error value as sample covariances
Table B.8 — Estimator names and formulas for the signal values and signal error values
Figure B.5 — Example for mean values and covariance values of a population with two signals x and y
B.4.1.2.4 Customised error value calculation method
B.4.1.3 Error value classification method
B.4.1.3.1 Unspecific error value
B.4.1.3.2 Multiple error value types
Figure B.6 — Example for calibration data of the sensor
Figure B.7 — Example for field of view segmentation of static trueness bias values (∆𝒅 of segments) in sensor coordinate system
B.4.1.3.3 Multi measurement cycle error values
Figure B.8 — Example of time series bias and values
B.4.1.3.4 Variant and covariant error values
Table B.9 — Error model with different covariances
B.4.1.3.5 Cross-covariant error values
B.4.1.3.6 Customised error value classification method
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Contents Page
Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
3.1 Architectural components
3.2 Terms for logical interface layers
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 terms
5 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
7.2.1 Generic object level header
7.2.2 Generic object level entity
7.3 Potentially moving object interface
7.3.1 Potentially moving object header
7.3.2 Potentially moving object entity
7.3.3 Profile: Motion type
7.3.4 Profile: Motion state vector
7.4 Road object interface
7.4.1 Road object header
7.4.2 Road object entity
7.4.3 Profile: Colour model for RDOI
7.5 Static object interface
7.5.1 Static object header
7.5.2 Static object entity
7.5.3 Profile: Colour model for SOI
7.5.4 Profile: Detection references for 3D detections
7.6 Free space area object interface
7.6.1 Free space area object header
7.6.2 Free space area object entity
8 Feature level
8.1 General
8.2 Generic sensor cluster feature interface
8.2.1 Generic sensor cluster feature header
8.2.2 Generic sensor cluster feature entity
8.3 Camera feature interface
8.3.1 Camera feature header
8.3.2 Camera feature entity
8.3.3 Profile: Colour model for CFI
8.4 Ultrasonic feature interface
8.4.1 Ultrasonic feature header
8.4.2 Ultrasonic feature entity
9 Detection level
9.1 General
9.2 Generic sensor detection interface
9.2.1 Generic sensor detections header
9.2.2 Generic sensor detections entity
9.3 Radar detection interface
9.3.1 Radar detections header
9.3.2 Radar detections entity
9.3.3 Profile: Radar ambiguity
9.4 Lidar detection interface
9.4.1 Lidar detection header
9.4.2 Lidar detection entity
9.5 Camera detection interface
9.5.1 Camera detection header
9.5.2 Camera detection entity
9.5.3 Profile: Colour model for CDI
9.6 Ultrasonic detection interface
9.6.1 Ultrasonic detection header
9.6.2 Ultrasonic detection entity
9.6.3 Profile: Ultrasonic sensor cluster
10 Supportive sensor interfaces
10.1 General
10.2 Generic supportive sensor interface
10.2.1 Generic supportive sensor header
10.2.2 Generic supportive sensor entity
10.3 Sensor performance interface
10.3.1 Sensor performance header
10.3.2 Sensor performance entity
10.3.3 Profile: Uniqueness of interface versioning of SPIs
10.4 Sensor health information interface
10.4.1 Sensor health information header
10.4.2 Sensor health information entity
11 Sensor input interface
11.1 General
11.2 Generic sensor input interface
11.2.1 Generic sensor inputs header
11.2.2 Generic sensor inputs entity
11.2.3 Profile: Uniqueness of interface versioning of SII
11.3 Common sensor input interface
11.3.1 Common sensor input header
11.3.2 Common sensor input entity
Annex A (normative) Interface signals
A.1 Header signals
A.1.1 Interface version ID {major, minor, patch}
Table A.1 — Signal: Interface version ID {major, minor, patch}
A.1.2 Interface ID
Table A.2 — Signal: Interface ID
Table A.3 — Enumeration: Interface ID – Example enumerators
A.1.3 Number of valid serving sensors
Table A.4 — Signal: Number of valid serving sensors
A.1.4 Sensor ID
Table A.5 — Signal: Sensor ID
A.1.5 Time stamp – …>
A.1.5.1 Time stamp – prediction
Table A.6 — Signal: Time stamp – prediction
A.1.5.2 Time stamp – measurement
Table A.7 — Signal: Time stamp – measurement
A.1.6 …> counter
A.1.6.1 Cycle counter
Table A.8 — Signal: Cycle counter
A.1.6.2 Message counter
Table A.9 — Signal: Message counter
A.1.7 Interface cycle time
Table A.10 — Signal: Interface cycle time
A.1.8 Interface cycle time – variation
Table A.11 — Signal: Interface cycle time – variation
A.1.9 Data qualifier
Table A.12 — Signal: Data qualifier
Table A.13 — Enumeration: Data qualifier – Example enumerators
A.1.10 Recognised …> – capability
A.1.10.1 Recognised potentially moving objects – capability
Table A.14 — Signal: Recognised potentially moving objects – capability
A.1.10.2 Recognised road markings – capability
Table A.15 — Signal: Recognised road markings – capability
A.1.10.3 Recognised road boundaries – capability
Table A.16 — Signal: Recognised road boundaries – capability
A.1.10.4 Recognised general landmarks – capability
Table A.17 — Signal: Recognised general landmarks – capability
A.1.10.5 Recognised traffic signs – capability
Table A.18 — Signal: Recognised traffic signs – capability
A.1.10.6 Recognised traffic sign boards – capability
Table A.19 — Signal: Recognised traffic sign boards – capability
A.1.10.7 Recognised traffic lights – capability
Table A.20 — Signal: Recognised traffic lights – capability
A.1.10.8 Recognised free space areas – capability
Table A.21 — Signal: Recognised free space areas – capability
A.1.10.9 Recognised features – capability
Table A.22 — Signal: Recognised features – capability
A.1.10.10 Recognised detections – capability
Table A.23 — Signal: Recognised detections – capability
A.1.10.11 Recognised shapes – capability
Table A.24 — Signal: Recognised shapes – capability
A.1.11 Recognised …> – status
Table A.25 — Enumeration: Recognised …> – status – Example enumerators
A.1.11.1 Recognised potentially moving objects – status
Table A.26 — Signal: Recognised potentially moving objects – status
A.1.11.2 Recognised road markings – status
Table A.27 — Signal: Recognised road markings – status
A.1.11.3 Recognised road boundaries – status
Table A.28 — Signal: Recognised road boundaries – status
A.1.11.4 Recognised general landmarks – status
Table A.29 — Signal: Recognised general landmarks – status
A.1.11.5 Recognised traffic signs – status
Table A.30 — Signal: Recognised traffic signs – status
A.1.11.6 Recognised traffic sign boards – status
Table A.31 — Signal: Recognised traffic sign boards – status
A.1.11.7 Recognised traffic lights – status
Table A.32 — Signal: Recognised traffic lights – status
A.1.11.8 Recognised free space areas – status
Table A.33 — Signal: Recognised free space areas – status
A.1.11.9 Recognised features – status
Table A.34 — Signal: Recognised features – status
A.1.11.10 Recognised detections – status
Table A.35 — Signal: Recognised detections – status
A.1.11.11 Recognised shapes – status
Table A.36 — Signal: Recognised shapes – status
A.1.12 Number of valid …>
A.1.12.1 Number of valid potentially moving objects
Table A.37 — Signal: Number of valid potentially moving objects
A.1.12.2 Number of valid road markings
Table A.38 — Signal: Number of valid road markings
A.1.12.3 Number of valid road boundaries
Table A.39 — Signal: Number of valid road boundaries
A.1.12.4 Number of valid general landmarks
Table A.40 — Signal: Number of valid general landmarks
A.1.12.5 Number of valid traffic signs
Table A.41 — Signal: Number of valid traffic signs
A.1.12.6 Number of valid traffic sign boards
Table A.42 — Signal: Number of valid traffic sign boards
A.1.12.7 Number of valid traffic lights
Table A.43 — Signal: Number of valid traffic lights
A.1.12.8 Number of valid free space areas
Table A.44 — Signal: Number of valid free space areas
A.1.12.9 Number of valid features
Table A.45 — Signal: Number of valid features
A.1.12.10 Number of valid detections
Table A.46 — Signal: Number of valid detections
A.1.12.11 Number of valid shapes
Table A.47 — Signal: Number of valid shapes
A.1.12.12 Number of valid field-of-view segments
Table A.48 — Signal: Number of valid field-of-view segments
A.1.13 Motion type
Table A.49 — Signal: Motion type
Table A.50 — Enumeration: Motion type – Example enumerators
A.1.14 Colour model type
Table A.51 — Signal: Colour model type
Table A.52 — Enumeration: Colour model type – Example enumerators
A.1.15 Radial velocity ambiguity domain {begin, end}
Table A.53 — Signal: Radial velocity ambiguity domain {begin, end}
A.1.16 Range ambiguity domain {begin, end}
Table A.54 — Signal: Range ambiguity domain {begin, end}
A.1.17 Angle azimuth ambiguity domain {begin, end}
Table A.55 — Signal: Angle azimuth ambiguity domain {begin, end}
A.1.18 Angle elevation ambiguity domain {begin, end}
Table A.56 — Signal: Angle elevation ambiguity domain {begin, end}
A.1.19 Interface applicability
Table A.57 — Signal: Interface applicability
Table A.58 — Enumeration: Interface applicability – Example enumerators
A.1.20 Vehicle coordinate system type – header
Table A.59 — Signal: Vehicle coordinate system type – header
Table A.60 — Enumeration: Vehicle coordinate system type – header
A.1.21 Sensor origin point {x, y, z} – header
Table A.61 — Signal: Sensor origin point {x, y, z} – header
A.1.22 Sensor origin point {x, y, z} – error
Table A.62 — Signal: Sensor origin point {x, y, z} – error
A.1.23 Sensor orientation {yaw, pitch, roll} – header
Table A.63 — Signal: Sensor orientation {yaw, pitch, roll} – header
A.1.24 Sensor orientation {yaw, pitch, roll} – error
Table A.64 — Signal: Sensor orientation {yaw, pitch, roll} – error
A.1.25 Vanishing point {azimuth, elevation}
Table A.65 — Signal: Vanishing point {azimuth, elevation}
Figure A.1 — Example for distance estimation
A.1.26 Vanishing point {azimuth, elevation} – error
Table A.66 — Signal: Vanishing point {azimuth, elevation} – error
A.1.27 Sender ID
Table A.67 — Signal: Sender ID
A.2 Object level entity signals
A.2.1 Existence probability – object level
Table A.68 — Signal: Existence probability – object level
A.2.2 Object ID
Table A.69 — Signal: Object ID
A.2.3 Object grouping ID
Table A.70 — Signal: Object grouping ID
A.2.4 Age
Table A.71 — Signal: Age
A.2.5 Number of valid observations – object level
Table A.72 — Signal: Number of valid observations – object level
A.2.6 Time stamp reference – object level
Table A.73 — Signal: Time stamp reference – object level
A.2.7 Observation status – object level
Table A.74 — Signal: Observation status – object level
Table A.75 — Enumeration: Observation status – object level – Example enumerators
A.2.8 Track quality
Table A.76 — Signal: Track quality
A.2.9 Measurement status – object level
Table A.77 — Signal: Measurement status – object level
Table A.78 — Enumeration: Measurement status – object level – Example enumerators
A.2.10 Tracking motion model
Table A.79 — Signal: Tracking motion model
Table A.80 — Enumeration: Tracking motion model – Example enumerators
A.2.11 Number of valid potentially moving object classifications
Table A.81 — Signal: Number of valid potentially moving object classifications
A.2.12 Potentially moving object classification type
Table A.82 — Signal: Potentially moving object classification type
Table A.83 — Enumeration: Potentially moving object classification type – Example enumerators
A.2.13 Potentially moving object classification type – confidence
Table A.84 — Signal: Potentially moving object classification type – confidence
A.2.14 Reference point
Table A.85 — Signal: Reference point
Table A.86 — Enumeration: Reference point – Example enumerators
Figure A.2 — Example for reference point of a potentially moving object's bounding box
A.2.15 Position – object level {x, y, z}
Table A.87 — Signal: Position – object level {x, y, z}
A.2.16 Position – object level {x, y, z} – error
Table A.88 — Signal: Position – object level {x, y, z} – error
A.2.17 Orientation {yaw, pitch, roll}
Table A.89 — Signal: Orientation {yaw, pitch, roll}
A.2.18 Orientation {yaw, pitch, roll} – error
Table A.90 — Signal: Orientation {yaw, pitch, roll} – error
A.2.19 Road level
Table A.91 — Signal: Road level
Table A.92 — Enumeration: Road level – Example enumerators
A.2.20 Bounding box extent {length, width, height}
Table A.93 — Signal: Bounding box extent {length, width, height}
Figure A.3 — Example for the signal “Bounding box extent {length, width, height}” (A.2.20)
A.2.21 Bounding box extent {length, width, height} – error
Table A.94 — Signal: Bounding box extent {length, width, height} – error
A.2.22 Clearance of the object {height}
Table A.95 — Signal: Clearance of the object {height}
Figure A.4 — Example for the signal “Clearance of the object {height}” (A.2.22) of a trailer
Figure A.5 — Example for the signal “Clearance of the object {height}” (A.2.22) of a vehicle
A.2.23 Included geometric structures
Table A.96 — Signal: Included geometric structures
Table A.97 — Enumeration: Included geometric structures – Example enumerators
A.2.24 Velocity {x, y, z} – object level
Table A.98 — Signal: Velocity {x, y, z} – object level
Figure A.6 — Example for an ego-vehicle and object dynamics of a potentially moving object
A.2.25 Velocity {x, y, z} – object level – error
Table A.99 — Signal: Velocity {x, y, z} – object level – error
A.2.26 Acceleration {x, y, z}
Table A.100 — Signal: Acceleration {x, y, z}
A.2.27 Acceleration {x, y, z} – error
Table A.101 — Signal: Acceleration {x, y, z} – error
A.2.28 Instantaneous centre of rotation {x, y}
Table A.102 — Signal: Instantaneous centre of rotation {x, y}
A.2.29 Instantaneous centre of rotation {x, y} – error
Table A.103 — Signal: Instantaneous centre of rotation {x, y} – error
A.2.30 Rotation rate at instantaneous centre of rotation {yaw}
Table A.104 — Signal: Rotation rate at instantaneous centre of rotation {yaw}
A.2.31 Rotation rate at instantaneous centre of rotation {yaw} – error
Table A.105 — Signal: Rotation rate at instantaneous centre of rotation {yaw} – error
A.2.32 Movement status
Table A.106 — Signal: Movement status
Table A.107 — Enumeration: Movement status – Example enumerators
A.2.33 Number of valid lights
Table A.108 — Signal: Number of valid lights
A.2.34 Light type
Table A.109 — Signal: Light type
Table A.110 — Enumeration: Light type – Example enumerators
A.2.35 Light status
Table A.111 — Signal: Light status
Table A.112 — Enumeration: Light status – Example enumerators
A.2.36 Number of valid persons
Table A.113 — Signal: Number of valid persons
A.2.37 Number of valid person type roles
Table A.114 — Signal: Number of valid person type roles
A.2.38 Person type role
Table A.115 — Signal: Person type role
Table A.116 — Enumeration: Person type role – Example enumerators
A.2.39 Person type role – confidence
Table A.117 — Signal: Person type role – confidence
A.2.40 Number of valid person gestures
Table A.118 — Signal: Number of valid person gestures
A.2.41 Person gesture indication type
Table A.119 — Signal: Person gesture indication type
Table A.120 — Enumeration: Person gesture indication type – Example enumerators
A.2.42 Person gesture indication type – confidence
Table A.121 — Signal: Person gesture direction type – confidence
A.2.43 Person gesture direction type
Table A.122 — Signal: Person gesture direction type
Table A.123 — Enumeration: Person gesture direction type – Example enumerators
A.2.44 Person gesture direction type – confidence
Table A.124 — Signal: Person gesture direction type – confidence
A.2.45 Number of valid person’s body part poses
Table A.125 — Signal: Number of valid person’s body part poses
A.2.46 Person body part
Table A.126 — Signal: Person body part
Table A.127 — Enumeration: Person body part – Example enumerators
Figure A.7 — Example of person poses’ coordinate systems
A.2.47 Person body part orientation {yaw, pitch, roll}
Table A.128 — Signal: Person body part orientation {yaw, pitch, roll}
A.2.48 Person body part orientation {yaw, pitch, roll} – error
Table A.129 — Signal: Person body part orientation {yaw, pitch, roll} – error
A.2.49 Person body part origin {x, y, z}
Table A.130 — Signal: Person body part origin {x, y, z}
A.2.50 Person body part origin {x, y, z} – error
Table A.131 — Signal: Person body part origin {x, y, z} – error
A.2.51 Eye state
Table A.132 — Signal: Eye state
Table A.133 — Enumeration: Eye state – Example enumerators
A.2.52 Eye state – confidence
Table A.134 — Signal: Eye state – confidence
A.2.53 Viewing fixation time
Table A.135 — Signal: Viewing fixation time
A.2.54 Viewing fixation time – error
Table A.136 — Signal: Viewing fixation time – error
A.2.55 Viewing fixation direction
Table A.137 — Signal: Viewing fixation direction
Table A.138 — Enumeration: Viewing fixation direction – Example enumerators
A.2.56 Viewing fixation direction – confidence
Table A.139 — Signal: Viewing fixation direction – confidence
A.2.57 Action type
Table A.140 — Signal: Action type
Table A.141 — Enumeration: Action type – Example enumerators
A.2.58 Action type – confidence
Table A.142 — Signal: Action type – confidence
A.2.59 Number of valid person accessories
Table A.143 — Signal: Number of valid person accessories
A.2.60 Person accessory classification type
Table A.144 — Signal: Person accessory classification type
Table A.145 — Enumeration: Person accessory classification type – Example enumerators
A.2.61 Person accessory classification type – confidence
Table A.146 — Signal: Person accessory classification type – confidence
A.2.62 Accessory connection to person type
Table A.147 — Signal: Accessory connection to person type
Table A.148 — Enumeration: Accessory connection to person type – Example enumerators
Figure A.8 — Example of the signal “Accessory connection to person type" (A.2.62) with enumerator “ACTPT_HandInFrontOfPerson”
A.2.63 Included geometric structure of accessory
Table A.149 — Signal: Included geometric structure of accessory
Table A.150 — Enumeration: Included geometric structure of accessory – Example enumerators
Figure A.9 — Example of the signal “Included geometric structure of accessory” (A.2.63)
A.2.64 Object lane association
Table A.151 — Signal: Object lane association
Table A.152 — Enumeration: Object lane association – Example enumerators
A.2.65 Angle between object edge and lane {left edge right lane, right edge left lane}
Table A.153 — Signal: Angle between object edge and lane {left edge right lane, right edge left lane}
Figure A.10 — Example for the signal: “Angle between object edge and lane {left edge right lane, right edge left lane}” (A.2.65) with left edge of the object and the right centre of the ego-vehicle lane’s road marking
A.2.66 Angle between object edge and lane {left edge right lane, right edge left lane} – error
Table A.154 — Signal: Angle between object edge and lane {left edge right lane, right edge left lane} – error
A.2.67 Percentage side lane {left, right}
Table A.155 — Signal: Percentage side lane {left, right}
A.2.68 Angular position {azimuth}
Table A.156 — Signal: Angular position {azimuth}
A.2.69 Angular velocity {azimuth}
Table A.157 — Signal: Angular velocity {azimuth}
A.2.70 Scale change – object level
Table A.158 — Signal: Scale change – object level
A.2.71 Entity radar cross section
Table A.159 — Signal: Entity radar cross section
A.2.72 Entity lidar reflectivity
Table A.160 — Signal: Entity lidar reflectivity
A.2.73 Road type – object level
Table A.161 — Signal: Road type – object level
Table A.162 — Enumeration: Road type – object level – Example enumerators
A.2.74 Road type – confidence
Table A.163 — Signal: Road type – confidence
A.2.75 Number of valid road surface classifications
Table A.164 — Signal: Number of valid road surface classifications
A.2.76 Road surface classification type – object level
Table A.165 — Signal: Road surface classification type – object level
Table A.166 — Enumeration: Road surface classification type – object level – Example enumerators
A.2.77 Road surface classification type – confidence
Table A.167 — Signal: Road surface classification type – confidence
A.2.78 Road surface roughness – object level
Table A.168 — Signal: Road surface roughness – object level
A.2.79 Road surface texture – object level
Table A.169 — Signal: Road surface texture – object level
A.2.80 Number of valid road surface condition classifications
Table A.170 — Signal: Number of valid road surface condition classifications
A.2.81 Road surface condition classification type – object level
Table A.171 — Signal: Road surface condition classification type – object level
Table A.172 — Enumeration: Road surface condition classification type – object level – Example enumerators
A.2.82 Road surface condition classification type – confidence
Table A.173 — Signal: Road surface condition classification type – confidence
A.2.83 Number of valid road marking classifications
Table A.174 — Signal: Number of valid road marking classifications
A.2.84 Road marking type
Table A.175 — Signal: Road marking type
Table A.176 — Enumeration: Road marking type – Example enumerators
A.2.85 Road marking type – confidence
Table A.177 — Signal: Road marking type – confidence
A.2.86 Road object lane association
Table A.178 — Signal: Road object lane association
Table A.179 — Enumeration: Road object lane association – Example enumerators
A.2.87 Road object lane association – confidence
Table A.180 — Signal: Road object lane association – confidence
A.2.88 Arrow orientation {yaw}
Table A.181 — Signal: Arrow orientation {yaw}
A.2.89 Arrow direction
Table A.182 — Signal: Arrow direction
Table A.183 — Enumeration: Arrow direction – Example enumerators
A.2.90 Number of valid sign classifications
Table A.184 — Signal: Number of valid sign classifications
A.2.91 Sign classification type
Table A.185 — Signal: Sign classification type
Table A.186 — Enumeration: Sign classification type – Example enumerators
A.2.92 Sign classification type – confidence
Table A.187 — Signal: Sign classification type – confidence
A.2.93 Sign value
Table A.188 — Signal: Sign value
A.2.94 Sign value unit
Table A.189 — Signal: Sign value unit
Table A.190 — Enumeration: Sign value unit – Example enumerators
A.2.95 Sign text
Table A.191 — Signal: Sign text
A.2.96 Sign text font
Table A.192 — Signal: Sign text font
Table A.193 — Enumeration: Sign text font – Example enumerators
A.2.97 Sign text – confidence
Table A.194 — Signal: Sign text – confidence
A.2.98 Number of valid entity states
Table A.195 — Signal: Number of valid entity states
A.2.99 Entity state
Table A.196 — Signal: Entity state
Table A.197 — Enumeration: Entity state – Example enumerators
A.2.100 Colour value – object level
Table A.198 — Signal: Colour value – object level
A.2.101 Colour tone – confidence – object level
Table A.199 — Signal: Colour tone – confidence – object level
A.2.102 Number of valid connections
Table A.200 — Signal: Number of valid connections
A.2.103 Connection type
Table A.201 — Signal: Connection type
Table A.202 — Enumeration: Connection type – Example enumerators
A.2.104 Connection grouping ID
Table A.203 — Signal: Connection grouping ID
A.2.105 Vertex point {x, y, z}
Table A.204 — Signal: Vertex point {x, y, z}
A.2.106 Vertex point {x, y, z} – error
Table A.205 — Signal: Vertex point {x, y, z} – error
A.2.107 Vertex point – confidence {x, y, z}
Table A.206 — Signal: Vertex point – confidence {x, y, z}
A.2.108 Number of valid polynomials
Table A.207 — Signal: Number of valid polynomials
Figure A.11 — Example for a polynomial contour representation
A.2.109 Polynomial coefficient y {c0, c1, c2, c3}
Table A.208 — Signal: Polynomial coefficient y {c0, c1, c2, c3}
A.2.110 Polynomial coefficient z {c0, c1, c2, c3}
Table A.209 — Signal: Polynomial coefficient z {c0, c1, c2, c3}
A.2.111 Polynomial y – error
Table A.210 — Signal: Polynomial y – error
A.2.112 Polynomial z – error
Table A.211 — Signal: Polynomial z – error
A.2.113 Polynomial range x {begin, end}
Table A.212 — Signal: Polynomial range x {begin, end}
Figure A.12 — Example for the signal “Polynomial range x {begin, end}” (A.2.113) for signal “Polynomial coefficient y {c0, c1, c2, c3}” (A.2.109)
A.2.114 Extent {width, height} – polynomial
Table A.213 — Signal: Extent {width, height} – polynomial
A.2.115 Extent {width, height} – polynomial – error
Table A.214 — Signal: Extent {width, height} – polynomial – error
A.2.116 Extent {width, height} – polynomial – confidence
Table A.215 — Signal: Extent {width, height} – polynomial – confidence
A.2.117 Number of valid data ranges
Table A.216 — Signal: Number of valid data ranges
A.2.118 Supported data range x {begin, end}
Table A.217 — Signal: Supported data range x {begin, end}
Figure A.13 — Example for the signal “Supported data range x {begin, end}” (A.2.118) for signal “Polynomial coefficient y {c0, c1, c2, c3}” (A.2.109)
A.2.119 Supported axis
Table A.218 — Signal: Supported axis
Table A.219 — Enumeration: Supported axis
A.2.120 Polyline interpolation method
Table A.220 — Signal: Polyline interpolation method
Table A.221 — Enumeration: Polyline interpolation method – Example enumerators
A.2.121 Number of valid polylines
Table A.222 — Signal: Number of valid polylines
Figure A.14 — Example for a polyline contour representation
A.2.122 Number of valid vertices
Table A.223 — Signal: Number of valid vertices
A.2.123 Extent {width, height} – vertex
Table A.224 — Signal: Extent {width, height} – vertex
A.2.124 Extent {width, height} – vertex – error
Table A.225 — Signal: Extent {width, height} – vertex – error
A.2.125 Extent {width, height} – vertex – confidence
Table A.226 — Signal: Extent {width, height} – vertex – confidence
A.2.126 Number of valid road boundary classifications
Table A.227 — Signal: Number of valid road boundary classifications
A.2.127 Road boundary type
Table A.228 — Signal: Road boundary type
Table A.229 — Enumeration: Road boundary type – Example enumerators
A.2.128 Road boundary type – confidence
Table A.230 — Signal: Road boundary type – confidence
A.2.129 Number of valid general landmark classifications
Table A.231 — Signal: Number of valid general landmark classifications
A.2.130 General landmark classification type
Table A.232 — Signal: General landmark classification type
Table A.233 — Enumeration: General landmark classification type – Example enumerators
A.2.131 General landmark classification type – confidence
Table A.234 — Signal: General landmark classification type – confidence
A.2.132 Sign geometry
Table A.235 — Signal: Sign geometry
Table A.236 — Enumeration: Sign geometry – Example enumerators
A.2.133 Number of valid lane relevance classifications
Table A.237 — Signal: Number of valid lane relevance classifications
A.2.134 Lane relevance classification type
Table A.238 — Signal: Lane relevance classification type
Table A.239 — Enumeration: Lane relevance classification type – Example enumerators
A.2.135 Lane relevance classification type – confidence
Table A.240 — Signal: Lane relevance classification type – confidence
A.2.136 Number of valid traffic supplementary signs
Table A.241 — Signal: Number of valid traffic supplementary signs
A.2.137 Number of valid supplementary sign classifications
Table A.242 — Signal: Number of valid supplementary sign classifications
A.2.138 Supplementary sign classification type
Table A.243 — Signal: Supplementary sign classification type
Table A.244 — Enumeration: Supplementary sign classification type – Example enumerators
A.2.139 Supplementary sign classification type – confidence
Table A.245 — Signal: Supplementary sign classification type – confidence
A.2.140 Relative position
Table A.246 — Signal: Relative position
Table A.247 — Enumeration: Relative position – Example enumerators
Figure A.15 — Example for a traffic sign – a main sign with two supplementary signs
A.2.141 Relative position order
Table A.248 — Signal: Relative position order
A.2.142 Position uv_origin {x, y, z}
Table A.249 — Signal: Position uv_origin {x, y, z}
Figure A.16 — Affine object coordinate system of a traffic sign board
A.2.143 Position uv_origin {x, y, z} – error
Table A.250 — Signal: Position uv_origin {x, y, z} – error
A.2.144 Position u_end {x, y, z}
Table A.251 — Signal: Position u_end {x, y, z}
A.2.145 Position u_end {x, y, z} – error
Table A.252 — Signal: Position u_end {x, y, z} – error
A.2.146 Position v_end {x, y, z}
Table A.253 — Signal: Position v_end {x, y, z}
A.2.147 Position v_end {x, y, z} – error
Table A.254 — Signal: Position v_end {x, y, z} – error
A.2.148 Ratio U- to V-axis
Table A.255 — Signal: Ratio U- to V-axis
A.2.149 Ratio U- to V-axis – error
Table A.256 — Signal: Ratio U- to V-axis – error
A.2.150 Number of valid traffic sign board regions
Table A.257 — Signal: Number of valid traffic sign board regions
A.2.151 Sign board entity ID
Table A.258 — Signal: Sign board entity ID
Figure A.17 — Example for a logical hierarchy of traffic sign board region entities
Figure A.18 — Example for a logical hierarchy of traffic sign board guiding graph entities
A.2.152 Number of valid entity ID references – object level
Table A.259 — Signal: Number of valid entity ID references – object level
A.2.153 Sign board entity ID reference – object level
Table A.260 — Signal: Sign board entity ID reference – object level
A.2.154 Border width {u, v}
Table A.261 — Signal: Border width {u, v}
Figure A.19 — Example of a traffic sign board with text on guiding graph which has a borderline
A.2.155 Border width {u, v} – error
Table A.262 — Signal: Border width {u, v} – error
A.2.156 Traffic sign board region – confidence
Table A.263 — Signal: Traffic sign board region – confidence
A.2.157 Number of valid colour tones
Table A.264 — Signal: Number of valid colour tones
A.2.158 Colour tone type
Table A.265 — Signal: Colour tone type
Table A.266 — Enumeration: Colour tone type
A.2.159 Number of valid vertex points
Table A.267 — Signal: Number of valid vertex points
A.2.160 Local position {u, v}
Table A.268 — Signal: Local position {u, v}
A.2.161 Local position {u, v} – error
Table A.269 — Signal: Local position {u, v} – error
A.2.162 Number of valid traffic sign board guiding graphs
Table A.270 — Signal: Number of valid traffic sign board guiding graphs
Figure A.20 — Example for a traffic sign board with guiding graph(s)
A.2.163 Traffic sign board guiding graph – confidence
Table A.271 — Signal: Traffic sign board guiding graph – confidence
A.2.164 Local position ID
Table A.272 — Signal: Local position ID
Figure A.21 — Two examples for traffic sign board guiding graphs and their vertex point IDs “Local position ID” (A.2.164)
A.2.165 Number of valid edges
Table A.273 — Signal: Number of valid edges
A.2.166 Local position ID reference {begin, end}
Table A.274 — Signal: Local position ID reference {begin, end}
Figure A.22 — Two examples for a traffic sign board guiding graphs with their vertex points and edges
A.2.167 Edge type
Table A.275 — Signal: Edge type
Table A.276 — Enumeration: Edge type – Example enumerators
A.2.168 Edge width {u, v}
Table A.277 — Signal: Edge width {u, v}
A.2.169 Edge width {u, v} – error
Table A.278 — Signal: Edge width {u, v} – error
A.2.170 Edge curve type
Table A.279 — Signal: Edge curve type
Table A.280 — Enumeration: Edge curve type – Example enumerators
A.2.171 Arrow type
Table A.281 — Signal: Arrow type
Table A.282 — Enumeration: Arrow type – Example enumerators
A.2.172 Number of valid traffic sign board texts
Table A.283 — Signal: Number of valid traffic sign board texts
A.2.173 Bounding box {uBegin, uEnd, vBegin, vEnd}
Table A.284 — Signal: Bounding box {uBegin, uEnd, vBegin, vEnd}
A.2.174 Bounding box {uBegin, uEnd, vBegin, vEnd} – error
Table A.285 — Signal: Bounding box {uBegin, uEnd, vBegin, vEnd} – error
A.2.175 Number of valid traffic sign board icons and symbols
Table A.286 — Signal: Number of valid traffic sign board icons and symbols
A.2.176 Icon and symbol type
Table A.287 — Signal: Icon and symbol type
Table A.288 — Enumeration: Icon and symbol type – Example enumerators
A.2.177 Icon and symbol type – confidence
Table A.289 — Signal: Icon and symbol type – confidence
A.2.178 Number of valid traffic sign board object references
Table A.290 — Signal: Number of valid traffic sign board object references
A.2.179 Object ID reference – object level
Table A.291 — Signal: Object ID reference – object level
A.2.180 Object ID reference – confidence
Table A.292 — Signal: Object ID reference – confidence
A.2.181 Number of valid traffic sign board occlusions
Table A.293 — Signal: Number of valid traffic sign board occlusions
A.2.182 Occlusion type
Table A.294 — Signal: Occlusion type
Table A.295 — Enumeration: Occlusion type – Example enumerators
A.2.183 Occlusion type – confidence
Table A.296 — Signal: Occlusion type – confidence
A.2.184 Number of valid structure light classifications
Table A.297 — Signal: Number of valid structure light classifications
A.2.185 Structure light classification type
Table A.298 — Signal: Structure light classification type
Table A.299 — Enumeration: Structure light classification type – Example enumerators
A.2.186 Structure light classification type – confidence
Table A.300 — Signal: Structure light classification type – confidence
A.2.187 Minimum visibility distance
Table A.301 — Signal: Minimum visibility distance
A.2.188 Total number of traffic light spots
Table A.302 — Signal: Total number of traffic light spots
A.2.189 Total number of traffic light spots – confidence
Table A.303 — Signal: Total number of traffic light spots – confidence
A.2.190 Number of valid traffic light spots
Table A.304 — Signal: Number of valid traffic light spots
A.2.191 Number of valid light shape classifications
Table A.305 — Signal: Number of valid light shape classifications
A.2.192 Light shape classification type
Table A.306 — Signal: Light shape classification type
Table A.307 — Enumeration: Light shape classification type – Example enumerators
A.2.193 Light shape classification type – confidence
Table A.308 — Signal: Light shape classification type – confidence
A.2.194 Light shape value
Table A.309 — Signal: Light shape value
A.2.195 Number of valid colour classifications
Table A.310 — Signal: Number of valid colour classifications
A.2.196 Colour classification type
Table A.311 — Signal: Colour classification type
Table A.312 — Enumeration: Colour classification type – Example enumerators
A.2.197 Colour classification type – confidence
Table A.313 — Signal: Colour classification type – confidence
A.2.198 Number of valid light mode classifications
Table A.314 — Signal: Number of valid light mode classifications
A.2.199 Light mode classification type
Table A.315 — Signal: Light mode classification type
Table A.316 — Enumeration: Light mode classification type – Example enumerators
A.2.200 Light mode classification type – confidence
Table A.317 — Signal: Light mode classification type – confidence
A.2.201 Free space type
Table A.318 — Signal: Free space type
Table A.319 — Enumeration: Free space type
Figure A.23 — Example for signal “Free space type” (A.2.201) as enumerator “FST_LimitedByStatic” and signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineOpen”
Figure A.24 — Example for signal “Free space type” (A.2.201) as enumerator “FST_PerceivedLimitedByStatic” and signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineClosed”
Figure A.25 — Example for signal “Free space type” (A.2.201) as enumerator “FST_PerceivedLimitedByStaticAndDynamic” and signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineClosed”
A.2.202 Number of valid free space area shapes
Table A.320 — Signal: Number of valid free space area shapes
A.2.203 Limitation geometry type
Table A.321 — Signal: Limitation geometry type
Table A.322 — Enumeration: Limitation geometry type
A.2.204 Shape type – object level
Table A.323 — Signal: Shape type – object level
Table A.324 — Enumeration: Shape type – object level – Example enumerators
Figure A.26 — Example for signal “Shape type – object level” (A.2.204) as enumerator “ST_Sector” and signal “Limitation geometry type” (A.2.203) as enumerator “LGT_Edge”
Figure A.27 — Example for signal “Shape type – object level” (A.2.204) as enumerator “ST_PolylineClosed” and signal “Limitation geometry type” (A.2.203) as enumerator “LGT_Edge”
A.2.205 Sector common vertex point {x, y, z}
Table A.325 — Signal: Sector common vertex point {x, y, z}
A.2.206 Sector common vertex point {x, y, z} – error
Table A.326 — Signal: Sector common vertex point {x, y, z} – error
A.2.207 Sector common vertex point – confidence {x, y, z}
Table A.327 — Signal: Vertex point – confidence {x, y, z}
A.2.208 Limitation reason
Table A.328 — Signal: Limitation reason
Table A.329 — Enumeration: Limitation reason – Example enumerators
A.2.209 Limitation moving probability
Table A.330 — Signal: Limitation moving probability
A.2.210 Limitation {radial extent, height}
Table A.331 — Signal: Limitation {radial extent, height}
Figure A.28 — Example for signal “Limitation {radial extent, height}” (A.2.210) and signal “Clearance {height}” (A.2.213) of a free space area
A.2.211 Limitation {radial extent, height} – error
Table A.332 — Signal: Limitation {radial extent, height} – error
A.2.212 Limitation– confidence {radial extent, height}
Table A.333 — Signal: Limitation– confidence {radial extent, height}
A.2.213 Clearance {height}
Table A.334 — Signal: Clearance {height}
A.2.214 Clearance {height} – error
Table A.335 — Signal: Clearance {height} – error
A.2.215 Clearance – confidence {height}
Table A.336 — Signal: Clearance – confidence {height}
A.3 Feature level entity signals
A.3.1 Existence probability – feature level
Table A.337 — Signal: Existence probability – feature level
A.3.2 Feature ID
Table A.338 — Signal: Feature ID
A.3.3 Object ID reference – feature level
Table A.339 — Signal: Object ID reference – feature level
A.3.4 Time stamp difference – feature level
Table A.340 — Signal: Time stamp difference – feature level
A.3.5 Number of valid observations – feature level
Table A.341 — Signal: Number of valid observations – feature level
A.3.6 Time stamp reference – feature level
Table A.342 — Signal: Time stamp reference – feature level
A.3.7 Observation status – feature level
Table A.343 — Signal: Observation status – feature level
Table A.344 — Enumeration: Observation status – feature level – Example enumerators
A.3.8 Feature grouping ID
Table A.345 — Signal: Feature grouping ID
A.3.9 Number of valid shape classifications – feature level
Table A.346 — Signal: Number of valid shape classifications – feature level
A.3.10 Shape classification type – feature level
Table A.347 — Signal: Shape classification type – feature level
Table A.348 — Enumeration: Shape classification type – feature level – Example enumerators
A.3.11 Shape classification type – confidence – feature level
Table A.349 — Signal: Shape classification type – confidence – feature level
A.3.12 Colour value – feature level
Table A.350 — Signal: Colour value – feature level
A.3.13 Colour tone – confidence – feature level
Table A.351 — Signal: Colour tone – confidence – feature level
A.3.14 Shape type – feature level
Table A.352 — Signal: Shape type – feature level
Table A.353 — Enumeration: Shape type – feature level – Example enumerators
A.3.15 Number of valid shape points – feature level
Table A.354 — Signal: Number of valid shape points – feature level
A.3.16 Point existence probability – feature level
Table A.355 — Signal: Point existence probability – feature level
A.3.17 Position – feature level {x, y, z}
Table A.356 — Signal: Position – feature level {x, y, z}
A.3.18 Position – feature level {x, y, z} – error
Table A.357 — Signal: Position – feature level {x, y, z} – error
A.3.19 Number of valid shape reference points – feature level
Table A.358 — Signal: Number of valid shape reference points – feature level
A.3.20 Shape surface normal {x, y, z}
Table A.359 — Signal: Shape surface normal {x, y, z}
A.3.21 Shape surface normal {x, y, z} – error
Table A.360 — Signal: Shape surface normal {x, y, z} – error
A.3.22 Translation rate {x, y, z} – feature level
Table A.361 — Signal: Translation rate {x, y, z} – feature level
A.3.23 Translation rate {x, y, z} – feature level – error
Table A.362 — Signal: Translation rate {x, y, z} – feature level – error
A.3.24 Rotation rate {yaw, pitch, roll} – feature level
Table A.363 — Signal: Rotation rate {yaw, pitch, roll} – feature level
A.3.25 Rotation rate {yaw, pitch, roll} – error – feature level
Table A.364 — Signal: Rotation rate {yaw, pitch, roll} – error – feature level
A.3.26 Scale change – feature level
Table A.365 — Signal: Scale change – feature level
A.3.27 Scale change – feature level – error
Table A.366 — Signal: Scale change – feature level – error
A.3.28 Number of valid ultrasonic feature classifications
Table A.367 — Signal: Number of valid ultrasonic feature classifications
A.3.29 Ultrasonic feature classification type
Table A.368 — Signal: Ultrasonic feature classification type
Table A.369 — Enumeration: Ultrasonic feature classification type – Example enumerators
A.3.30 Ultrasonic feature classification type – confidence
Table A.370 — Signal: Ultrasonic feature classification type – confidence
A.3.31 Number of valid points
Table A.371 — Signal: Number of valid points
A.3.32 Orientation – feature level {pitch}
Table A.372 — Signal: Orientation – feature level {pitch}
A.3.33 Orientation – feature level {pitch} – error
Table A.373 — Signal: Orientation – feature level {pitch} – error
A.3.34 Extent {height} – feature level
Table A.374 — Signal: Extent {height} – feature level
A.3.35 Extent {height} – feature level – error
Table A.375 — Signal: Extent {height} – feature level – error
A.3.36 Velocity {x, y} – feature level
Table A.376 — Signal: Velocity {x, y} – feature level
A.3.37 Velocity {x, y} – feature level – error
Table A.377 — Signal: Velocity {x, y} – feature level – error
A.3.38 Trilateration status
Table A.378 — Signal: Trilateration status
Table A.379 — Enumeration: Trilateration status – Example enumerators
A.3.39 Measurement status – feature level
Table A.380 — Signal: Measurement status – feature level
Table A.381 — Enumeration: Measurement status – feature level – Example enumerators
A.4 Detection level entity signals
A.4.1 Existence probability – detection level
Table A.382 — Signal: Existence probability – detection level
A.4.2 Detection ID
Table A.383 — Signal: Detection ID
A.4.3 Object ID reference – detection level
Table A.384 — Signal: Object ID reference – detection level
A.4.4 Feature ID reference
Table A.385 — Signal: Feature ID reference
A.4.5 Time stamp difference – detection level
Table A.386 — Signal: Time stamp difference – detection level
A.4.6 Radar cross section
Table A.387 — Signal: Radar cross section
A.4.7 Radar cross section – error
Table A.388 — Signal: Radar cross section – error
A.4.8 Signal to noise ratio – detection level
Table A.389 — Signal: Signal to noise ratio – detection level
A.4.9 Signal to noise ratio – detection level – error
Table A.390 — Signal: Signal to noise ratio – detection level – error
A.4.10 Multi target probability
Table A.391 — Signal: Multi target probability
A.4.11 Ambiguity grouping ID
Table A.392 — Signal: Ambiguity grouping ID
A.4.12 Detection ambiguity probability
Table A.393 — Signal: Detection ambiguity probability
A.4.13 Free space probability
Table A.394 — Signal: Free space probability
A.4.14 Number of valid detection classifications
Table A.395 — Signal: Number of valid detection classifications
A.4.15 Detection classification type
Table A.396 — Signal: Detection classification type
Table A.397 — Enumeration: Detection classification type – Example enumerators
A.4.16 Detection classification type – confidence
Table A.398 — Signal: Detection classification type – confidence
A.4.17 Position {radial distance, azimuth, elevation}
Table A.399 — Signal: Position {radial distance, azimuth, elevation}
A.4.18 Position {radial distance, azimuth, elevation} – error
Table A.400 — Signal: Position {radial distance, azimuth, elevation} – error
A.4.19 Relative velocity {radial distance}
Table A.401 — Signal: Relative velocity {radial distance}
A.4.20 Relative velocity {radial distance} – error
Table A.402 — Signal: Relative velocity {radial distance} – error
A.4.21 Reflectivity
Table A.403 — Signal: Reflectivity
A.4.22 Reflectivity – error
Table A.404 — Signal: Reflectivity – error
A.4.23 Extent {height} – lidar
Table A.405 — Signal: Extent {height} – lidar
A.4.24 Extent {height} – lidar – error
Table A.406 — Signal: Extent {height} – lidar – error
A.4.25 Number of valid shape classifications – detection level
Table A.407 — Signal: Number of valid shape classifications – detection level
A.4.26 Shape classification type – detection level
Table A.408 — Signal: Shape classification type – detection level
Table A.409 — Enumeration: Shape classification type – detection level – Example enumerators
A.4.27 Shape classification type – confidence – detection level
Table A.410 — Signal: Shape classification type – confidence – detection level
Table A.411 — Enumeration: Shape classification type – confidence – detection level – Example enumerators
A.4.28 Shape ambiguity grouping ID
Table A.412 — Signal: Shape ambiguity grouping ID
A.4.29 Colour value – detection level
Table A.413 — Signal: Colour value – detection level
A.4.30 Colour tone – confidence – detection level
Table A.414 — Signal: Colour tone – confidence – detection level
A.4.31 Shape type – detection level
Table A.415 — Signal: Shape type – detection level
Table A.416 — Enumeration: Shape type – detection level – Example enumerators
A.4.32 Number of valid shape points – detection level
Table A.417 — Signal: Number of valid shape points – detection level
A.4.33 Point existence probability – detection level
Table A.418 — Signal: Point existence probability – detection level
A.4.34 Number of valid shape reference points – detection level
Table A.419 — Signal: Number of valid shape reference points – detection level
A.4.35 Detection ID reference – detection level
Table A.420 — Signal: Detection ID reference – detection level
A.4.36 Extent {azimuth, elevation}
Table A.421 — Signal: Extent {azimuth, elevation}
A.4.37 Extent {azimuth, elevation} – error
Table A.422 — Signal: Extent {azimuth, elevation} – error
A.4.38 Translation rate {radial distance, azimuth, elevation} – detection level
Table A.423 — Signal: Translation rate {radial distance, azimuth, elevation} – detection level
A.4.39 Translation rate {radial distance, azimuth, elevation} – detection level – error
Table A.424 — Signal: Translation rate {radial distance, azimuth, elevation} – detection level – error
A.4.40 Second sensor ID reference
Table A.425 — Signal: Second sensor ID reference
A.4.41 Distance
Table A.426 — Signal: Distance
Figure A.29 — Example for a detection where emitting and sensing element is the same (real sensor)
Figure A.30 — Example for an ultrasonic detection where emitting- and sensing element are different (virtual sensor)
A.4.42 Distance – error
Table A.427 — Signal: Distance – error
A.4.43 Extent {height} – ultrasonic
Table A.428 — Signal: Extent {height} – ultrasonic
A.4.44 Extent {height} – ultrasonic – error
Table A.429 — Signal: Extent {height} – ultrasonic – error
A.5 Supportive sensor interface entity signals
A.5.1 Segment azimuth – supportive sensor level {begin, end}
Table A.430 — Signal: Segment azimuth – supportive sensor level {begin, end}
Figure A.31 — Example for the signal “Segment azimuth – supportive sensor level {begin, end}” (A.5.1) in XY-plane
A.5.2 Segment elevation – supportive sensor level {begin, end}
Table A.431 — Signal: Segment elevation – supportive sensor level {begin, end}
Figure A.32 — Example for the signal “Segment elevation – supportive sensor level {begin, end}” (A.5.2) in XZ-plane
A.5.3 Measurement grid resolution {radial distance, azimuth, elevation}
Table A.432 — Signal: Measurement grid resolution {radial distance, azimuth, elevation}
A.5.4 Beam divergence {azimuth, elevation}
Table A.433 — Signal: Beam divergence {azimuth, elevation}
A.5.5 Range gain
Table A.434 — Signal: Range gain
A.5.6 Blockage status
Table A.435 — Signal: Blockage status
Table A.436 — Enumeration: Blockage status – Example enumerators
A.5.7 Number of valid field-of-view reduction reasons
Table A.437 — Signal: Number of valid field-of-view reduction reasons
A.5.8 Field-of-view reduction reason type
Table A.438 — Signal: Field-of-view reduction reason type
Table A.439 — Enumeration: Field-of-view reduction reason type – Example enumerators
A.5.9 Field-of-view reduction reason type – confidence
Table A.440 — Signal: Field-of-view reduction reason type – confidence
A.5.10 Number of valid recognisable object types
Table A.441 — Signal: Number of valid recognisable object types
A.5.11 Recognised object type
Table A.442 — Signal: Recognised object type
Table A.443 — Enumeration: Recognised object type – Example enumerators
A.5.12 Detection range radial distance {begin, end}
Table A.444 — Signal: Detection range radial distance {begin, end}
Figure A.33 — Example for the signal “Detection range radial distance {begin, end}” (A.5.12) of FOV segments
A.5.13 True positive rate
Table A.445 — Signal: True positive rate
A.5.14 False positive rate
Table A.446 — Signal: False positive rate
A.5.15 Positive predictive value
Table A.447 — Signal: Positive predictive value
A.5.16 Number of valid reference target types
Table A.448 — Signal: Number of valid reference target types
A.5.17 Reference target type
Table A.449 — Signal: Reference target type
Table A.450 — Enumeration: Reference target type – Example enumerators
A.5.18 Radar cross section reference target
Table A.451 — Signal: Radar cross section reference target
A.5.19 Reflectivity reference target
Table A.452 — Signal: Reflectivity reference target
A.5.20 Relative radial velocity range {begin, end}
Table A.453 — Signal: Relative radial velocity range {begin, end}
A.5.21 Signal to noise ratio – supportive level
Table A.454 — Signal: Signal to noise ratio – supportive level
A.5.22 Spatial separability {radial distance, azimuth, elevation}
Table A.455 — Signal: Spatial separability {radial distance, azimuth, elevation}
A.5.23 Velocity separability {radial distance, azimuth, elevation}
Table A.456 — Signal: Velocity separability {radial distance, azimuth, elevation}
A.5.24 Number of valid sensor operation modes
Table A.457 — Signal: Number of valid sensor operation modes
A.5.25 Sensor operation mode
Table A.458 — Signal: Sensor operation mode
Table A.459 — Enumeration: Sensor operation mode – Example enumerators
A.5.26 Sensor defect recognised
Table A.460 — Signal: Sensor defect recognised
Table A.461 — Enumeration: Sensor defect recognised – Example enumerators
A.5.27 Sensor defect reason
Table A.462 — Signal: Sensor defect reason
Table A.463 — Enumeration: Sensor defect reason – Example enumerators
A.5.28 Supply voltage status
Table A.464 — Signal: Supply voltage status
Table A.465 — Enumeration: Supply voltage status – Example enumerators
A.5.29 Sensor temperature status
Table A.466 — Signal: Sensor temperature status
Table A.467 — Enumeration: Sensor temperature status – Example enumerators
A.5.30 Number of valid sensor input signal statuses
Table A.468 — Signal: Number of valid sensor input signal statuses
A.5.31 Sensor input signal type
Table A.469 — Signal: Sensor input signal type
Table A.470 — Enumeration: Sensor input signal type – Example enumerators
A.5.32 Sensor input signal status
Table A.471 — Signal: Sensor input signal status
Table A.472 — Enumeration: Sensor input signal status – Example enumerators
A.5.33 Sensor externally disturbed
Table A.473 — Signal: Sensor externally disturbed
Table A.474 — Enumeration: Sensor externally disturbed – Example enumerators
A.5.34 Sensor transmit power reduced
Table A.475 — Signal: Sensor transmit power reduced
Table A.476 — Enumeration: Sensor transmit power reduced – Example enumerators
A.5.35 Sensor heating status
Table A.477 — Signal: Sensor heating status
Table A.478 — Enumeration: Sensor heating status – Example enumerators
A.5.36 Sensor cleaning status
Table A.479 — Signal: Sensor cleaning status
Table A.480 — Enumeration: Sensor cleaning status – Example enumerators
A.5.37 Sensor time sync
Table A.481 — Signal: Sensor time sync
Table A.482 — Enumeration: Sensor time sync – Example enumerators
A.5.38 Sensor time sync offset value
Table A.483 — Signal: Sensor time sync offset value
A.5.39 Number of valid sensor-calibratable components
Table A.484 — Signal: Number of valid sensor-calibratable components
A.5.40 Sensor-calibratable component
Table A.485 — Signal: Sensor-calibratable component
Table A.486 — Enumeration: Sensor-calibratable component – Example enumerators
A.5.41 Sensor calibration status
Table A.487 — Signal: Sensor calibration status
Table A.488 — Enumeration: Sensor calibration status – Example enumerators
A.5.42 Calibration process state
Table A.489 — Signal: Calibration process state
Table A.490 — Enumeration: Calibration process state – Example enumerators
A.5.43 Sensor origin point – correction {x, y, z}
Table A.491 — Signal: Sensor origin point – correction {x, y, z}
A.5.44 Sensor origin point – correction {x, y, z} – error
Table A.492 — Signal: Sensor origin point – correction {x, y, z} – error
A.5.45 Sensor origin translation – correction limit {xbegin, xend, ybegin, yend, zbegin, zend}
Table A.493 — Signal: Sensor origin translation – correction limit {xbegin, xend, ybegin, yend, zbegin, zend}
A.5.46 Sensor orientation – correction {yaw, pitch, roll}
Table A.494 — Signal: Sensor orientation – correction {yaw, pitch, roll}
A.5.47 Sensor orientation – correction {yaw, pitch, roll} – error
Table A.495 — Signal: Sensor orientation – correction {yaw, pitch, roll} – error
A.5.48 Sensor pose angle – correction limit {yawbegin, yawend, pitchbegin, pitchend, rollbegin, rollend}
Table A.496 — Signal: Sensor pose angle – correction limit {yawbegin, yawend, pitchbegin, pitchend, rollbegin, rollend}
A.5.49 Number of valid sensors
Table A.497 — Signal: Number of valid sensors
A.5.50 Sensor ID reference
Table A.498 — Signal: Sensor ID reference
A.6 Sensor input interface signals
A.6.1 Sensor operation mode command
Table A.499 — Signal: Sensor operation mode command
Table A.500 — Enumeration: Sensor operation mode command – Example enumerators
A.6.2 Weather condition
Table A.501 — Signal: Weather condition
Table A.502 — Enumeration: Weather condition – Example enumerators
A.6.3 Fog
Table A.503 — Signal: Fog
Table A.504 — Enumeration: Fog – Example enumerators
A.6.4 Precipitation
Table A.505 — Signal: Precipitation
Table A.506 — Enumeration: Precipitation – Example enumerators
A.6.5 Number of valid absorption models
Table A.507 — Signal: Number of valid absorption models
A.6.6 Absorption coefficient
Table A.508 — Signal: Absorption coefficient
A.6.7 Absorption wavelength
Table A.509 — Signal: Absorption wavelength
Table A.510 — Enumeration: Absorption wavelength – Example enumerators
A.6.8 Ambient illumination
Table A.511 — Signal: Ambient illumination
Table A.512 — Enumeration: Ambient illumination – Example enumerators
A.6.9 Air temperature
Table A.513 — Signal: Air temperature
A.6.10 Air temperature – error
Table A.514 — Signal: Air temperature – error
A.6.11 Atmospheric pressure
Table A.515 — Signal: Atmospheric pressure
A.6.12 Atmospheric pressure – error
Table A.516 — Signal: Atmospheric pressure – error
A.6.13 Relative humidity
Table A.517 — Signal: Relative humidity
A.6.14 Relative humidity – error
Table A.518 — Signal: Relative humidity – error
A.6.15 Global time stamp
Table A.519 — Signal: Global time stamp
A.6.16 Road type – input level
Table A.520 — Signal: Road type – input level
Table A.521 — Enumeration: Road type – input level – Example enumerators
A.6.17 Road surface temperature
Table A.522 — Signal: Road surface temperature
A.6.18 Road surface water film
Table A.523 — Signal: Road surface water film
A.6.19 Road surface freezing point
Table A.524 — Signal: Road surface freezing point
A.6.20 Road surface ice coverage
Table A.525 — Signal: Road surface ice coverage
A.6.21 Road surface classification type – input level
Table A.526 — Signal: Road surface classification type – input level Road surface roughness
Table A.527 — Enumeration: Road surface classification type – input level – Example enumerators
A.6.22 Road surface roughness – input level
Table A.528 — Signal: Road surface roughness – input level
A.6.23 Road surface condition classification type – input level
Table A.529 — Signal: Road surface condition classification type – input level
Table A.530 — Enumeration: Road surface condition classification type – input level – Example enumerators
A.6.24 Road surface texture – input level
Table A.531 — Signal: Road surface texture – input level
A.6.25 Vehicle coordinate system type – input level
Table A.532 — Signal: Vehicle coordinate system type – input level
Table A.533 — Enumeration: Vehicle coordinate system type – input level
A.6.26 Vehicle state reference point type
Table A.534 — Signal: Vehicle state reference point type
Table A.535 — Enumeration: Vehicle state reference point type
A.6.27 Velocity {x, y, z} – input level
Table A.536 — Signal: Velocity {x, y, z} – input level
A.6.28 Velocity {x, y, z} – error – input level
Table A.537 — Signal: Velocity {x, y, z} – error – input level
A.6.29 Acceleration {x, y, z} – input level
Table A.538 — Signal: Acceleration {x, y, z} – input level
A.6.30 Acceleration {x, y, z} – error – input level
Table A.539 — Signal: Acceleration {x, y, z} – error – input level
A.6.31 Jerk {x}
Table A.540 — Signal: Jerk {x}
A.6.32 Jerk {x} – error
Table A.541 — Signal: Jerk {x} – error
A.6.33 Rotation rate {yaw, pitch, roll} – input level
Table A.542 — Signal: Rotation rate {yaw, pitch, roll} – input level
A.6.34 Rotation rate {yaw, pitch, roll} – error – input level
Table A.543 — Signal: Rotation rate {yaw, pitch, roll} – error – input level
A.6.35 Angular wheel position {FLP, FRP, RLP, RRP}
Table A.544 — Signal: Angular wheel position {FLP, FRP, RLP, RRP}
A.6.36 Angular wheel velocity {FLP, FRP, RLP, RRP}
Table A.545 — Signal: Angular wheel velocity {FLP, FRP, RLP, RRP}
A.6.37 Angular wheel velocity {FLP, FRP, RLP, RRP} – error
Table A.546 — Signal: Angular wheel velocity {FLP, FRP, RLP, RRP} – error
A.6.38 Slip angle {FLP, FRP, RLP, RRP}
Table A.547 — Signal: Slip angle {FLP, FRP, RLP, RRP}
A.6.39 Active suspension {FLP, FRP, RLP, RRP}
Table A.548 — Signal: Active suspension {FLP, FRP, RLP, RRP}
A.6.40 Steering angle
Table A.549 — Signal: Steering angle
A.6.41 Steering angle – error
Table A.550 — Signal: Steering angle – error
A.6.42 Vehicle global position {latitude, longitude, altitude}
Table A.551 — Signal: Vehicle global position {latitude, longitude, altitude}
A.6.43 Vehicle global position {latitude, longitude, altitude} – error
Table A.552 — Signal: Vehicle global position {latitude, longitude, altitude} – error
A.6.44 Vehicle global orientation {yaw, pitch, roll}
Table A.553 — Signal: Vehicle global orientation {yaw, pitch, roll}
A.6.45 Wheel rotation direction {FLP, FRP, RLP, RRP}
Table A.554 — Signal: Wheel rotation direction {FLP, FRP, RLP, RRP}
Table A.555 — Enumeration: Wheel rotation direction {FLP, FRP, RLP, RRP} – Example enumerators
A.6.46 Wheel tick count {FLP, FRP, RLP, RRP}
Table A.556 — Signal: Wheel tick count {FLP, FRP, RLP, RRP}
A.6.47 Gear position
Table A.557 — Signal: Gear position
Table A.558 — Enumeration: Gear position – Example enumerators
A.6.48 Brake activation level
Table A.559 — Signal: Brake activation level
Table A.560 — Enumeration: Gear position – Example enumerators
A.6.49 Vehicle motion state
Table A.561 — Signal: Vehicle motion state
Table A.562 — Enumeration: Vehicle motion state – Example enumerators
A.6.50 Current region
Table A.563 — Signal: Current region
Table A.564 — Enumeration: Current region – Example enumerators
A.6.51 Current traffic flow type
Table A.565 — Signal: Current traffic flow type
Table A.566 — Enumeration: Current traffic flow type – Example enumerators
A.6.52 Trailer type
Table A.567 — Signal: Trailer type
Table A.568 — Enumeration: Trailer type – Example enumerators
A.6.53 Park brake state
Table A.569 — Signal: Park brake state
Table A.570 — Enumeration: Park brake state – Example enumerators
A.6.54 Vehicle body position {z}
Table A.571 — Signal: Vehicle body position {z}
A.6.55 Vehicle body orientation {pitch, roll}
Table A.572 — Signal: Vehicle body orientation {pitch, roll}
A.6.56 Sensor origin point {x, y, z} – input level
Table A.573 — Signal: Sensor origin point {x, y, z} – input level
A.6.57 Sensor orientation {yaw, pitch, roll} – input level
Table A.574 — Signal: Sensor orientation {yaw, pitch, roll} – input level
A.6.58 Reporting interface …> – command
Table A.575 — Enumeration: Reporting interface …> – command – Example enumerators
A.6.58.1 Reporting interface PMOI – command
Table A.576 — Signal: Reporting interface PMOI – command
A.6.58.2 Reporting interface RDOI – command
Table A.577 — Signal: Reporting interface RDOI – command
A.6.58.3 Reporting interface SOI – command
Table A.578 — Signal: Reporting interface SOI – command
A.6.58.4 Reporting interface FSAOI – command
Table A.579 — Signal: Reporting interface FSAOI – command
A.6.58.5 Reporting interface FLI – command
Table A.580 — Signal: Reporting interface FLI – command
A.6.58.6 Reporting interface DLI – command
Table A.581 — Signal: Reporting interface DLI – command
A.6.58.7 Reporting interface SPI – command
Table A.582 — Signal: Reporting interface SPI – command
A.6.58.8 Reporting interface SHII – command
Table A.583 — Signal: Reporting interface SHII – command
A.6.59 Number of valid region-of-interest segments
Table A.584 — Signal: Number of valid region-of-interest segments
A.6.60 Segment azimuth – input level {begin, end}
Table A.585 — Signal: Segment azimuth – input level {begin, end}
A.6.61 Segment elevation – input level {begin, end}
Table A.586 — Signal: Segment elevation – input level {begin, end}
A.6.62 Resolution type {azimuth, elevation}
Table A.587 — Signal: Resolution type {azimuth, elevation}
Table A.588 — Enumeration: Resolution type {azimuth, elevation} – Example enumerators
Annex B (normative) Options and constraints
B.1 Options for interface optimisation
B.1.1 List length optimisation
B.1.2 Redundancy optimisation
B.1.3 Alternative value representation optimisation
B.1.4 Alternative entity representation optimisation
B.1.5 Implicit values
B.1.6 Unrolling tuple-lists
B.1.7 Default enumerators
B.2 Requirement level conditional reasons
B.2.1 Sensor technology specific conditional requirements
B.2.2 Signal dependencies
B.2.3 Multiple entity types for one interface
B.3 Cross interface optimisation
B.3.1 Link between interfaces
B.3.2 Assignment of information to one interface
B.3.3 Need of logical signal group
B.3.4 Source entities of a derived signal
Table B.1 — Template LSG for a signal “xxx” to reference source entities
Table B.2 Number of valid sensing elements which generate the signal “xxx” – Annex B.3.4
Table B.3 Number of valid serving sensors – Annex B.3.4
Table B.4 Sensor ID reference – Annex B.3.4
Table B.5 Detection ID reference – Annex B.3.4
B.4 Cross interface definition
B.4.1 Error model implementation
Figure B.1 — Error classes using four examples of populations
B.4.1.1 Statistic
Figure B.2 — Example for a histogram of a population
B.4.1.2 Signal values and associated signal error value calculation method
B.4.1.2.1 Signal value as sample mean, signal error value as sample standard deviation
Table B.6 — Estimator names and formulas for the signal value and signal error value
Figure B.3 — Example for mean value and standard deviation value
B.4.1.2.2 Signal value as sample median, signal error value as sample interquartile range
Table B.7 — Estimator names and formulas for the signal value and signal error value
Figure B.4 — Example for quartiles, median value and IQR value
B.4.1.2.3 Signal value as sample mean vector, signal error value as sample covariances
Table B.8 — Estimator names and formulas for the signal values and signal error values
Figure B.5 — Example for mean values and covariance values of a population with two signals x and y
B.4.1.2.4 Customised error value calculation method
B.4.1.3 Error value classification method
B.4.1.3.1 Unspecific error value
B.4.1.3.2 Multiple error value types
Figure B.6 — Example for calibration data of the sensor
Figure B.7 — Example for field of view segmentation of static trueness bias values (∆𝒅 of segments) in sensor coordinate system
B.4.1.3.3 Multi measurement cycle error values
Figure B.8 — Example of time series bias and values
B.4.1.3.4 Variant and covariant error values
Table B.9 — Error model with different covariances
B.4.1.3.5 Cross-covariant error values
B.4.1.3.6 Customised error value classification method
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