This document is applicable to road vehicles with automated driving functions. This document concerns the logical interface between vehicle environmental perception sensors 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 different abstraction levels based on sensor technology specific information.

This document provides generic interface templates for different interface levels, supportive sensor interfaces and sensor input interfaces.

This document does not provide electrical and mechanical interface specifications. Raw data interfaces are also excluded.