ISO 23150:2023 道路車両 — 自動運転機能のためのセンサーとデータ融合ユニット間のデータ通信 — 論理インターフェース | ページ 6

3.1.1

融合

2 つ以上のセンサー(3.1.5) およびセンサー クラスター(3.1.6) からの信号( 3.3.1) を結合してサラウンド モデル(3.1.7) を作成する行為

3.1.2

フュージョンユニット

センサー(3.1.5) データとセンサー クラスター(3.1.6) データの融合(3.1.1) が実行されるコンピューティングwhere

3.1.3

インターフェース

2 つの機能ユニット間の共有境界。必要に応じて、機能、物理的相互接続、信号(3.3.1) 交換、およびユニットのその他の特性に関連するさまざまな特性によって定義されます。

[出典: ISO/IEC 2382:2015, 2124351, 修正済み — 記入事項の注記は削除されました。]

3.1.4

論理インターフェース

論理特性によって定義される、センサー(3.1.5) およびセンサー クラスター(3.1.6) と融合ユニット(3.1.2) の間のインターフェース(3.1.3)

注記 1: 論理とは、インターフェースの意味論的な記述を意味します。

注記 2:機械的インターフェースおよび電気的インターフェースは除外されます。

注記 3: この文書では、論理インターフェースという用語の短縮形としてインターフェースという用語を使用しています。

3.1.5

センサー

少なくとも 1 つの論理インターフェイス(3.1.4) にサービスを提供する前処理機能を備え、車両の外部のエンティティを検出する車載ユニット

注記 1:センサーは 1 つ以上の感知素子を使用する場合があります。

3.1.6

センサークラスター

共通の論理インターフェース(3.1.4) にサービスを提供する同じテクノロジーのセンサーのグループ (3.1.5)

注記 1:センサークラスターは、例外的に 1 つのセンサーのみで構成できます。

3.1.7

サラウンドモデル

自我車両に隣接する現実世界の表現

3.1.8

車内通信

車両内でデバイスを接続して情報を交換するために使用される通信ネットワーク

注記 1:車載通信は、例えば、電気制御ユニットとセンサー(3.1.5) を相互に接続します。

3.2.1

detection

sensor technology specific entity represented in the sensor coordinate system (3.7.18) based on a single measurement (3.4.5) of a sensor (3.1.5)

Note 1 to entry: A small amount of history can be used for some detection signals (3.3.1), for example, model-free filtering may be used in track-before-detect algorithms.

3.2.2

detection level

set of logical interfaces (3.1.4) that provides detections (3.2.1)

3.2.3

feature

sensor technology specific entity represented in the vehicle coordinate system (3.7.16) based on multiple measurements (3.4.5)

Note 1 to entry: Multiple measurements can originate from a sensor cluster (3.1.6).

Note 2 to entry: Multiple measurements can originate from multiple measurement cycles (3.4.1).

Note 3 to entry: The term feature is used in this document not as function or group of functions as specified in ISO/SAE PAS 22736:2021.

3.2.4

feature level

set of logical interfaces (3.1.4) that provides features (3.2.3)

3.2.5

object

representation of a real-world entity with defined boundaries and characteristics in the vehicle coordinate system (3.7.16)

Note 1 to entry: The geometric description of the object is in the vehicle coordinate system.

Note 2 to entry: Object signals (3.3.1) are basically sensor technology independent. Sensor technology specific signals may extend the object signals.

3.2.6

object level

set of logical interfaces (3.1.4) that provides objects (3.2.5)

3.2.7

sensor input

data received by a sensor (3.1.5) or a sensor cluster (3.1.6) via the in-vehicle communication (3.1.8)

3.3.1

signal

entity consisting of one or more values and which is part of a logical interface (3.1.4)

3.3.2

logical signal group

grouping of signals (3.3.1) that has a logical relationship and a name for the grouping

3.3.3

classification

attribute-based differentiation

Note 1 to entry: An attribute is defined by a list of enumerators.

3.4.1

measurement cycle

time period from the start of a data acquisition event to the start of the next data acquisition event

Note 1 to entry: A measurement cycle of one sensor (3.1.5) is a consistent view of an observed scene and not overlapping in time.

3.4.2

measured quantity value

value of a quantity resulting from a measurement (3.4.5)

3.4.3

tracked quantity value

value of a quantity determined from observed sequential changes, using information related to the same characteristic

3.4.4

predicted quantity value

value of a quantity assessed before it is actually observable, using information related to the same characteristic

[SOURCE:IEV 192-13-02, modified — EXAMPLE has been added and the word"quantity" has been added to the term.]

3.4.5

measurement

processing result of a measurement cycle (3.4.1)

3.4.6

tracking

computation process used to calculate the tracked quantity value (3.4.3) of a quantity

3.4.7

prediction

computation process used to obtain the predicted quantity value (3.4.4) of a quantity

[SOURCE:IEV 192-11-01]

3.4.8

error

discrepancy between a measured quantity value (3.4.2), tracked quantity value (3.4.3) or predicted quantity value (3.4.4) or condition, and the true, specified or theoretically correct reference quantity value or condition

Note 1 to entry: An error within a system can be caused by failure of one or more of its components, or by the activation of a systematic fault.

[SOURCE:IEV 192-03-02, modified — “computed, observed or measured value” was modified to “measured quantity value, tracked quantity value or predicted quantity value”, “value” was modified to “reference quantity value”, Note 1 to entry has been adapted and Note 2 to entry was deleted.]

3.4.9

accuracy

closeness of agreement between a measured quantity value (3.4.2), tracked quantity value (3.4.3) or predicted quantity value (3.4.4) and a true quantity value

Note 1 to entry: The concept accuracy is not a quantity and is not given a numerical quantity value. A measurement (3.4.5), tracking (3.4.6) or prediction (3.4.7) is said to be more accurate when it offers a smaller error (3.4.8).

Note 2 to entry: The term accuracy should not be used for trueness (3.4.10) and the term precision (3.4.11) should not be used for accuracy, which, however, is related to both these concepts.

Note 3 to entry: Accuracy is sometimes understood as closeness of agreement between measured, tracked or predicted quantity values that are being attributed to the measurand.

[SOURCE:ISO/IEC Guide 99:2007, 2.13, modified — The terms"measurement accuracy" and"accuracy of measurement" were deleted, definition was extended for tracked or predicted quantity values and the Notes to entry have been adapted.]

3.4.10

trueness

closeness of agreement between the average of an infinite number of replicated measured quantity values (3.4.2), tracked quantity values (3.4.3) or predicted quantity values (3.4.4) and a reference quantity value

Note 1 to entry: Trueness is not a quantity and thus cannot be expressed numerically, but measures for closeness of agreement are given in the ISO 5725 series.

Note 2 to entry: Trueness is inversely related to systematic error but is not related to random error.

Note 3 to entry: The term accuracy (3.4.9) should not be used for trueness.

[SOURCE:ISO/IEC Guide 99:2007, 2.14, modified — The terms"measurement trueness" and"trueness of measurement" were deleted, definition was extended for tracked or predicted quantity values and the Notes to entry have been adapted.]

3.4.11

precision

closeness of agreement between indications or measured quantity values (3.4.2), tracked quantity value (3.4.3) or predicted quantity values (3.4.4) obtained by replicate measurements (3.4.5), tracking (3.4.6) or prediction (3.4.7) on the same or similar measurands under specified conditions

Note 1 to entry: Precision is usually expressed numerically by measures, trackings or predictions of imprecision, such as standard deviation, variance or coefficient of variation under the specified conditions of measurement, tracking or prediction.

Note 2 to entry: The specified conditions can be, for example, repeatability conditions of measurement, intermediate precision conditions of measurement or reproducibility conditions of measurement (see ISO 5725-1:1994).

Note 3 to entry: Precision is used to define measurement, tracking or prediction repeatability, intermediate measurement or prediction precision and measurement, tracking or prediction reproducibility.

Note 4 to entry: Sometimes precision is erroneously used to mean accuracy (3.4.9).

Note 5 to entry: Precision is inversely related to random error but is not related to systematic error.

[SOURCE:ISO/IEC Guide 99:2007, 2.15, modified — The term"measurement precision" was deleted, the word “objects” was replaced by “measurands”, definition was extended for tracked or predicted quantity values, the Notes to entry have been adapted and Note 5 to entry has been added.]

3.4.12

measurement error

measured quantity value (3.4.2) minus a reference quantity value

Note 2 to entry: Measurement error should not be confused with production error or mistake.

[SOURCE:ISO/IEC Guide 99:2007, 2.16, modified — The terms"error" and"error of measurement" were deleted and the Notes to entry have been adapted.]

3.4.13

tracking error

quantitative statement about the tracked quantity value (3.4.3) and the reference quantity value

3.4.14

prediction error

quantitative statement about the predicted quantity value (3.4.4) and the reference quantity value

3.4.15

error model

model used to estimate the error (3.4.8)

3.4.16

fixation

short temporal holds of movements that keep alignment of the eyes to a particular point within an area of interest which falls on the fovea (the middle of the retina responsible for our central, sharpest vision) for a given time period

[SOURCE:ISO 15007:2020, 3.1.4, modified — Notes to entry have been deleted.]

3.5.1

conditional

required under certain specified conditions

Note 1 to entry: One of three obligation statuses applied to a requirement level (3.5.4) of a logical interface (3.1.4) specification, indicating the conditions under which the signal (3.3.1) or logical signal group (3.3.2) is required. In other cases, the signal or logical signal group is optional. See also mandatory (3.5.2) and optional (3.5.3).

[SOURCE:ISO/IEC 11179-3:2023, 3.2.77, modified — Note 1 to entry has been adapted and Note 2 to entry has been removed.]

3.5.2

mandatory

always required

Note 1 to entry: One of three obligation statuses applied to a requirement level (3.5.4) of a logical interface (3.1.4) specification, indicating the conditions under which the signal (3.3.1) or logical signal group (3.3.2) is required. See also conditional (3.5.1) and optional (3.5.3).

[SOURCE:ISO/IEC 11179-3:2023, 3.2.75, modified — Note 1 to entry has been adapted and Note 2 to entry has been removed.]

3.5.3

optional

permitted but not required

Note 1 to entry: One of three obligation statuses applied to a requirement level (3.5.4) of a logical interface (3.1.4) specification, indicating the conditions under which the signal (3.3.1) or logical signal group (3.3.2) is required. See also conditional (3.5.1) and mandatory (3.5.2).

[SOURCE:ISO/IEC 11179-3:2023, 3.2.76, modified — Note 1 to entry has been adapted and Note 2 to entry has been removed.]

3.5.4

requirement level

definition of the obligation status of a logical interface's (3.1.4) logical signal group (3.3.2), signal (3.3.1) as well as a signal's identifier or signal's enumerator

Note 1 to entry: Each requirement level entry has one of three possible obligation statuses applied: conditional (3.5.1), mandatory (3.5.2) or optional (3.5.3).

3.6.1

potentially moving object

real-world entity which can potentially move and is relevant for driving situations

Note 1 to entry: A representation of a potentially moving object is part of logical interfaces (3.1.4) on object level (3.2.6).

3.6.2

road object

marking or structure of a road which is relevant for driving situations

Note 1 to entry: A representation of a road object is part of logical interfaces (3.1.4) on object level (3.2.6).

3.6.2.1

road marking

line, symbol or other mark on the surface of a road or a structure intended to limit, regulate, warn, guide or inform road users

Note 1 to entry: Other marks could be text, numbers, arrows or combinations.

[SOURCE:ISO 6707-1:2020, 3.3.5.80, modified —"user" was modified to"road users", “limit” was added and the Note 1 to entry and EXAMPLE have been added.]

3.6.2.2

road boundary

structure that limits the road

3.6.2.3

road surface

surface supporting the tyre and providing friction necessary to generate shear forces in the road plane (3.7.6)

Note 1 to entry: The surface may be flat, curved, undulated or of other shape.

[SOURCE:ISO 8855:2011, 2.6]

3.6.3

static object

real-world stationary entity which can be used for information and/or localisation

Note 1 to entry: A representation of a static object is part of logical interfaces (3.1.4) on object level (3.2.6).

3.6.3.1

general landmark

real-world stationary entity which can be used for localisation

Note 1 to entry: A stationary traffic sign (3.6.3.2) or traffic light (3.6.3.4) is also regarded as a general landmark.

3.6.3.2

traffic sign

traffic relevant, authorised sign that limits, regulates, warns, guides or informs road users

Note 1 to entry: One traffic sign usually consists of one main sign (3.6.3.2.1) and none, one or several supplementary signs (3.6.3.2.2).

3.6.3.2.1

main sign

traffic sign (3.6.3.2) which gives a general message, obtained by a combination of colour and geometric shape and which, by the addition of a graphical symbol or text, gives a particular message for road users

[SOURCE:ISO 3864-1:2011, 3.12, modified — The original term was"safety sign","sign" has been replaced by"traffic sign" and the phrases"or text" and"for road users" have been added to the definition.]

3.6.3.2.2

supplementary sign

traffic sign (3.6.3.2) that is supportive of a main sign (3.6.3.2.1) and the main purpose of which is to provide additional clarification

[SOURCE:ISO 3864-1:2011, 3.14, modified —"traffic sign" now replaces"sign" and"main sign" replaces"traffic sign".]

3.6.3.3

traffic sign board

traffic relevant, authorised sign board that limits, regulates, warns, guides or informs road users by abstract representations of lanes and streets ahead to control traffic on the road

3.6.3.4

traffic light

traffic relevant, official lights

Note 1 to entry: One traffic light consists of one or several light spots with different light colours and/or shapes.

3.6.4

free space area object

area entity of the road surface (3.6.2.3) that can be driven on and is free of obstacles that can limit driving

Note 1 to entry: A representation of a free space area object is part of logical interfaces (3.1.4) on object level (3.2.6).

3.7.1

reference frame

geometric environment in which all points remain fixed with respect to each other at all times

[SOURCE:ISO 8855:2011, 2.1]

3.7.2

axis system

set of direction vectors

3.7.3

coordinate system

numbering convention used to assign a unique ordered trio of values to each point in a reference frame (3.7.1) and which consists of an axis system (3.7.2) plus an origin point

[SOURCE:ISO 8855:2011, 2.4, modified —"(x, y, z)" has been removed from the definition.]

3.7.4

cartesian coordinate system

set of numerical coordinates (x, y, z), which are the signed distances to the YZ-, ZX- and XY-planes using a set of three orthogonal directions associated with X, Y and Z axes

Note 1 to entry: A right-handed axis system (3.7.2) is assumed throughout this document, where: .

3.7.5

spherical coordinate system

set of one distance vector and two angles associated with radial distance, azimuth and elevation

Note 1 to entry: The azimuth angle is the angle in XY-plane [of a cartesian coordinate system (3.7.4)] of the axis system (3.7.2) counted from the X-axis. The elevation angle is the angle from the azimuth direction in the XY-plane of the axis system towards the direction of the distance vector, that is XY-plane has an elevation angle = 0 rad.

Note 2 to entry: The angles of the spherical coordinate system have increasing values in counterclockwise direction.

3.7.6

road plane

plane representing the road surface (3.6.2.3) within the front tyre contact patches and the vehicle road-level reference point (3.7.13)

Note 1 to entry: See Figure 3.