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Road vehicles - Data communication between sensors and data fusion unit for automated driving functions - Logical interface
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Basic data
| Standard ID | GB/T 47126-2026 (GB/T47126-2026) |
| Description (Translated English) | Road vehicles - Data communication between sensors and data fusion unit for automated driving functions - Logical interface |
| Sector / Industry | National Standard (Recommended) |
| Classification of Chinese Standard | T36 |
| Classification of International Standard | 43.040 |
| Word Count Estimation | 334,342 |
| Date of Issue | 2026-02-27 |
| Date of Implementation | 2026-06-01 |
| Issuing agency(ies) | State Administration for Market Regulation, Standardization Administration of China |
GB/T 47126-2026: Road vehicles - Data communication between sensors and data fusion unit for automated driving functions - Logical interface
---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
ICS 43.040
CCST36
National Standards of the People's Republic of China
Road vehicle autonomous driving sensor and data fusion
Inter-unit data communication logical interface
(ISO 23150.2023, MOD)
Published on 2026-02-27
Implemented on June 1, 2026
State Administration for Market Regulation
The State Administration for Standardization issued a statement.
Table of contents
Preface III
Introduction V
1.Scope 1
2 Normative References 1
3.Terms and Definitions 1
3.1 Architecture Section 1
3.2 Logic Interface Level Terminology 2
3.3 Structural Terminology 3
3.4 Measurement Terminology 3
3.5 Demand Level Terminology 5
3.6 Road User Related Entity Types 6
3.7 Axis and Coordinate System Terminology 7
4.Abbreviations 11
5 Interface Description Structure 13
5.1 General Rules 13
5.2 Signal 13
5.3 Interface 13
5.4 Specific Signal Group 14
5.5 Configuration File 14
6.Logical interface between sensors and sensor clusters and fusion unit 15
6.1 General Rules 15
6.2 General Interface Header 17
6.3 General Interface Entity 18
6.4 Configuration File. Interface Version Uniqueness 18
7.Target Level 18
7.1 General Provisions 18
7.2 General Target-Level Interface 19
7.3 Potential Moving Target Interface 21
7.4 Road Target Interface 31
7.5 Static Target Interface 43
7.6 Drivable Area Target Interface 74
8.Feature Level 81
8.1 General Rules
8.2 Universal Sensor Group Feature Interface 81
8.3 Camera Feature Interface 83
8.4 Ultrasonic Radar Feature Interface 89
9.Detection level 94
9.1 General Rules 94
9.2 Universal Sensor Detection Interface 94
9.3 Millimeter-wave radar detection interface 96
9.4 LiDAR Detection Interface 100
9.5 Camera detection interface 104
9.6 Ultrasonic Radar Detection Interface 110
10 Support for sensor interfaces 116
10.1 General Provisions 116
10.2 General-purpose support sensor interface 117
10.3 Sensor Performance Interface 118
10.4 Sensor Health Information Interface 123
11 Sensor Input Interface 127
11.1 General Rule 127
11.2 General-purpose sensor input interface 127
11.3 General-purpose sensor input interface 128
Appendix A (Specifications) Interface Signal 133
A.1 Header signal 133
A.2 Target-level entity signal 153
A.3 Feature-level entity information 240
A.4 Detection level entity signal 251
A.5 Supports sensor interface signal 267
A.6 Sensor Input Interface Signal 286
Appendix B (Normative) Optional and Limiting 309
B.1 Interface Optimization Option 309
B.2 Requirement Level Condition Reason 310
B.3 Cross-interface optimization 311
B.4 Cross-interface definition 313
References 324
Foreword
This document complies with the provisions of GB/T 1.1-2020 "Standardization Work Guidelines Part 1.Structure and Drafting Rules of Standardization Documents".
Drafting.
This document is modified to adopt ISO 23150.2023 "Data communication logic between sensors and data fusion units for automated driving of road vehicles".
interface".
Compared with ISO 23150.2023, this document has undergone the following structural adjustments.
---7.2.1, 7.3.1, 7.4.1, 7.5.1, 7.6.1, 8.2.1, 8.3.1, 8.4.1, 9.2.1, 9.3.1, 9.4.1, 9.5.1, 9.6.1, 10.2.1, 10.
3.1, 10.4.1, 11.2.1, 11.3.1, A.1.1, A.1.5.1, A.1.10.1, A.1.11.1, A.1.12.1, A.2.1, A.3.1, A.4.1,
A.5.1, A.6.1, A.6.59.1, B.1.1, B.2.1, B.3.1, and B.4.1 correspond to sections 7.2 and 7.2.1 of ISO 23150.2023, respectively.
7.3 and 7.3.1, 7.4 and 7.4.1, 7.5 and 7.5.1, 7.6 and 7.6.1, 8.2 and 8.2.1, 8.3 and 8.3.1, 8.4 and 8.4.1, 9.2
and 9.2.1, 9.3 and 9.3.1, 9.4 and 9.4.1, 9.5 and 9.5.1, 9.6 and 9.6.1, 10.2 and 10.2.1, 10.3 and 10.3.1, 10.4
And 10.4.1, 11.2 and 11.2.1, 11.3 and 11.3.1, A.1 and A.1.1, A.1.5 and A.1.5.1, A.1.10 and A.1.10.1,
A.1.11 and A.1.11.1, A.1.12 and A.1.12.1, A.2 and A.2.1, A.3 and A.3.1, A.4 and A.4.1, A.5 and
A.5.1, A.6 and A.6.1, A.6.59 and A.6.59.1, B.1 and B.1.1, B.2 and B.2.1, B.3 and B.3.1, B.4 and B.4.1
The suspension section between.
The technical differences between this document and ISO 23150.2023, and the reasons therefor, are as follows.
---Unused abbreviations "C", "D", "O", and "M" have been removed;
---Figures 15, 16, 17, 18, A.20, and A.21 have been modified to reflect Chinese road traffic signs to better suit the needs of Chinese road traffic regulations.
Traffic conditions;
---Added two enumeration types. "RBT_Other_Crossed road edge is a traversable type" and "RBT_Other_Not-
Crossed road edges are classified as uncrossable types (see Table A.229) to improve the availability of information for enumerating other types;
---Changed the enumeration definitions related to road edge types (see Table A.229), rainfall (see Table A.506), and fog (see Table A.504), and related to...
The definitions in GB/T 45312-2025 "Design and Operation Conditions for Automated Driving Systems of Intelligent Connected Vehicles" are consistent with those in China, in order to adapt to the needs of the country.
National conditions;
---Changed "Brake deceleration request between (0~5) m/s" to "Brake deceleration request between (0~X) m/s" (see...)
Table A.560) is used to increase the flexibility of vendor implementation;
---Added to versions 7.3.1, 7.4.1, 7.5.1, 7.6.1, 8.3.1, 8.4.1, 9.3.1, 9.4.1, 9.5.1, 9.6.1, 10.3.1, 10.4.1, and 11.3.1
The corresponding interface structure is described to improve the readability of the text.
The following editorial changes have been made to this document.
---Corrected the error where the signal value range in "Number of Effective Shape Points - Feature Level" was inconsistent with the text description; the value range has been modified.
It starts from 1 (see A.3.16);
---Notes 2 in section 3.4.9, 3.4.10, 3.4.11, and 3.4.12 have been removed from ISO 23150.2023.
Please note that some content in this document may involve patents. The issuing organization of this document assumes no responsibility for identifying patents.
This document was proposed by the Ministry of Industry and Information Technology of the People's Republic of China.
This document is under the jurisdiction of the National Automotive Standardization Technical Committee (SAC/TC114).
This document was drafted by. China Automotive Technology & Research Center Co., Ltd., Huawei Technologies Co., Ltd., and Pan Asia Technical Automotive Center Co., Ltd.
Company, Dongfeng Motor Group Co., Ltd., Bosch Automotive Components (Suzhou) Co., Ltd., Tsinghua University, China Automotive Intelligent Control (Beijing) Technology Co., Ltd.
Huizhou Desay SV Automotive Electronics Co., Ltd., Jaguar Land Rover (China) Investment Co., Ltd., Beijing Baidu Netcom Technology Co., Ltd.
Chongqing Changan Automobile Co., Ltd., NIO Technology (Anhui) Co., Ltd., China FAW Group Corporation, King Long United Automotive Industry Co., Ltd.
Car Industry (Suzhou) Co., Ltd.
The main drafters of this document are. Wu Hanbing, Zhou Zheng, Sun Hang, Yang Guo, Chen Tao, Chen Chen, Zhou Qi, Zheng Sifa, Zhang Lu, Ma Chao, Han Xiao, and Lin Zhiqi.
Peng Wei, Wang Kuan, Xu Jingyang, Wang Yinan, Chen Chen.
Introduction
Highly automated driving (AD) functions for road vehicles require situational awareness of the vehicle's surroundings, ideally with comprehensive scene understanding capabilities.
Force. To quickly and reliably identify objects in the real world, it is necessary to provide the fusion unit with sensor suite information. Utilizing...
Using sensor technologies with similar detection capabilities, such as radar, lidar, cameras, and ultrasonic radar, to ensure complementary and redundant information is indispensable.
The fusion unit analyzes and evaluates different sensor signals, ultimately generating a dynamic surrounding environment model with sufficient scene understanding capabilities.
Although some current autonomous driving functions only use specific objects (such as vehicles, pedestrians, and road markings) to generate simple surrounding environments.
Models exist, but future highly automated driving functions will not only need to integrate the identified objects, but also incorporate other sensor characteristics and features of these objects.
To generate a coherent model of the surrounding environment. This is done to minimize the development effort of sensors and fusion units, and to maximize...
The reusability of development and verification work for different functions at the high-sensor and fusion unit ends is improved, and a standard is established between the sensor kit and the fusion unit.
Standardizing logic interfaces, and establishing standardized logic interfaces for sensor kits, is worthwhile and beneficial for both sensor and system vendors.
Beneficial.
Index number explanation.
1---Logical interface layer between the fusion unit and autonomous driving functions;
2---Logical interface layer between a single sensor or a cluster of sensors and the fusion unit;
3---The interface layer for the raw data of the sensor sensing unit.
Figure 1 Architecture. Sensor/Sensor Cluster - Fusion Unit - Autonomous Driving Function
The logical interface between a single sensor or a cluster of sensors and the fusion unit (see 2 in Figure 1) addresses the technical complexity and
The encapsulation of targets, features, and detections enables target-level, feature-level, and detection-level fusion. Additional supporting information from sensors and sensor clusters will be...
Supplement the data information of the fusion unit.
Index number explanation.
1---Logical interface layer between other in-vehicle electronic control units (ECUs, such as odometers) and individual sensors or individual sensor clusters.
Figure 2 Architecture. Input to the sensor ECU - Sensor/Sensor Cluster
The logical interface layer between a single sensor or a single sensor cluster and the fusion unit (see 1 in Figure 2) includes a single sensor or
Input to a single sensor cluster.
Road vehicle autonomous driving sensor and data fusion
Inter-unit data communication logical interface
1 Scope
This document specifies the logical interface between the vehicle-mounted environmental perception sensor and the fusion unit, but does not specify the electronic, electrical, or mechanical interface specifications.
The specification also does not define the original data interface. The fusion unit generates a surrounding model based on sensor data and interprets the external scene. Logical interface...
It uses modular semantic descriptions to represent and provide target-level information as well as feature-level and detection-level information based on sensor-specific technology information.
This document applies to road vehicles with autonomous driving capabilities.
Note 1.Vehicle-mounted environmental perception sensors include millimeter-wave radar, lidar, cameras, ultrasonic radar, etc.
Note 2.Targets include potential moving targets, road targets, static targets, etc.
2 Normative references
This document has no normative references.
3 Terms and Definitions
The following terms and definitions apply to this document.
3.1 Architecture Section
3.1.1
Fusion
Signals (3.3.1) from two or more sensors (3.1.5) and a sensor cluster (3.1.6) are combined to create a surrounding model (3.1.7).
The behavior.
3.1.2
fusion unit
A computing unit that performs data fusion (3.1.1) of sensor (3.1.5) data and sensor cluster (3.1.6) data.
3.1.3
interface
The shared boundary between two functional units is determined by various factors related to the unit's function, physical interconnection, signal (3.3.1) exchange, and other characteristics.
Feature definition.
[Source. ISO /IEC 2382.2015, 2124351, modified]
3.1.4
logical interface
The interface (3.1.3) between the sensor (3.1.5) defined by logical characteristics and the sensor cluster (3.1.6) and the fusion unit (3.1.2).
Note 1.Logic is the semantic description of the interface.
Note 2.Excluding mechanical and electrical interfaces.
Note 3.In this document, "logical interface" is abbreviated as "interface".
...
