Design of Sensor Data Processing Software for the ISO 23150 Standard: Application to Autonomous Vehicle Software

Abstract

The ISO 23150 standard defines the logical interface between sensors and fusion units. To apply this standard to actual vehicles, software is required to convert sensor data into ISO 23150-compliant sensor data. In this study, we developed sensor data processing software to provide ISO 23150-compliant sensor data to autonomous vehicle software. The main contributions of this study are as follows: First, the safety of the software is considered, and its structure and error detection method are designed to minimize the impact of errors. Second, the software structure is in accordance with the ISO 23150 standard, and a framework structure is designed with convenience in mind. Third, we considered its compatibility with adaptive AUTOSAR by designing a data delivery service using SOME/IP communication. We evaluated the security and data delivery delay of the software on a controller used in an actual vehicle and noted high security and real-time performance. The evaluation results demonstrated the feasibility of this method for real-world vehicles. Our study can serve as a basis for advancing autonomous driving technology in the context of ensuring software safety.