scope:

This document is applicable to road vehicles with automated driving functions. The document specifies the logical interface between in-vehicle surround sensors (e.g. radar, lidar, camera, ultrasonic, etc.) 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 (e.g. potentially moving objects, road objects, static objects, etc.) as well as information on feature- and detection level and on sensor technology specific information. This standard does not provide electrical and mechanical interface specifications. Raw data interfaces are also excluded.