BS ISO 17215-3-2014 Road vehicles Video communication interface for cameras (VCIC) Camera message dictionary《道路车辆 摄像机视频通信接口 (VCIC) 摄像机消息字典》.pdf

1、BSI Standards PublicationBS ISO 17215-3:2014Road vehicles Videocommunication interface forcameras (VCIC)Part 3: Camera message dictionaryBS ISO 17215-3:2014 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 17215-3:2014.The UK participation in its preparation was

2、 entrusted to TechnicalCommittee AUE/16, Electrical and electronic equipment.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correcta

3、pplication. The British Standards Institution 2014. Published by BSI StandardsLimited 2014ISBN 978 0 580 80551 6ICS 43.040.15Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Com

4、mittee on 30 September 2014.Amendments issued since publicationDate Text affectedBS ISO 17215-3:2014 ISO 2014Road vehicles Video communication interface for cameras (VCIC) Part 3: Camera message dictionaryVhicules routiers Interface de communication vido pour camras (ICVC) Partie 3: Dictionnaire de

5、message de camraINTERNATIONAL STANDARDISO17215-3First edition2014-04-15Reference numberISO 17215-3:2014(E)BS ISO 17215-3:2014ISO 17215-3:2014(E)ii ISO 2014 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2014All rights reserved. Unless otherwise specified, no part of this publication may be repr

6、oduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISOs member body in the country of the requeste

7、r.ISO copyright officeCase postale 56 CH-1211 Geneva 20Tel. + 41 22 749 01 11Fax + 41 22 749 09 47E-mail copyrightiso.orgWeb www.iso.orgPublished in SwitzerlandBS ISO 17215-3:2014ISO 17215-3:2014(E) ISO 2014 All rights reserved iiiContents PageForeword ivIntroduction v1 Scope . 12 Normative referenc

8、es 23 Terms and definitions, symbols, and abbreviated terms . 23.1 Terms and definitions . 23.2 Abbreviated terms . 34 Conventions . 35 Overview of ISO 17215 . 35.1 General . 35.2 Document overview and structure 35.3 Open Systems Interconnection (OSI) model . 45.4 Document reference according to OSI

9、 model . 46 Camera application interface (OSI layer 7) . 56.1 Specific properties . 56.2 API principles . 66.3 API data types 76.4 API Return codes . 76.5 API enumerations . 76.6 API structures . 116.7 API reference . 266.8 Programming model for SOME/IP 406.9 PDU examples for some/IP . 45BS ISO 1721

10、5-3:2014ISO 17215-3:2014(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested

11、in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commi

12、ssion (IEC) on all matters of electrotechnical standardization.The procedures used to develop this document and those intended for its further maintenance are described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the different types of ISO documents sh

13、ould be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsible for i

14、dentifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in the Introduction and/or on the ISO list of patent declarations received (see www.iso.org/patents).Any trade name used in this document is information given for the conv

15、enience of users and does not constitute an endorsement.For an explanation on the meaning of ISO specific terms and expressions related to conformity assessment, as well as information about ISOs adherence to the WTO principles in the Technical Barriers to Trade (TBT) see the following URL: Foreword

16、 - Supplementary informationThe committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 3, Electrical and electronic equipment.ISO 17215 consists of the following parts, under the general title Road vehicles Video communication interface for cameras (VCIC): Part 1: Gener

17、al information and use case definition Part 2: Service discovery and control Part 3: Camera message dictionary Part 4: Implementation of communication requirementsiv ISO 2014 All rights reservedBS ISO 17215-3:2014ISO 17215-3:2014(E)IntroductionDriver assistance systems are more and more common in ro

18、ad vehicles. From the beginning, cameras were part of this trend. Analogue cameras were used in the beginning because of lower complexity of the first systems. With increasing demand for more advanced functionality, digital image processing has been introduced. So-called one box design cameras (comb

19、ining a digital image sensor and a processing unit) appeared in the vehicles.Currently, the market demands such systems with multiple functions. Even different viewing directions are in use. It seems to be common sense that 6 up to 12 cameras in a single vehicle will be seen in the next future. Out

20、of this and the limitation in size, power consumption, etc. it will lead to designs where the cameras are separated from the processing unit. Therefore, a high performance digital interface between camera and processing unit is necessary.This International Standard has been established in order to d

21、efine the use cases, the communication protocol, and the physical layer requirements of a video communication interface for cameras, which covers the needs of driver assistance applications.The video communication interface for cameras incorporates the needs of the whole life cycle of an automotive

22、grade digital camera, utilizes existing standards to define a long-term stable state-of-art video communication interface for cameras usable for operating and diagnosis purpose, can be easily adapted to new physical data link layers including wired and wireless connections by using existing adaption

23、 layers, and is compatible with AUTOSAR.This part of ISO 17215 is related to the general information and use case definition. This is a general overview International Standard which is not related to the OSI model.To achieve this, it is based on the Open Systems Interconnection (OSI) basic reference

24、 model specified in ISO/IEC 7498-1 and ISO/IEC 10731, which structures communication systems into seven layers. When mapped on this model, the protocol and physical layer requirements specified by this International Standard, in accordance with Table 1 are broken into following layers: application (

25、layer 7), specified in ISO 17215-3; presentation layer (layer 6), specified in ISO 17215-2; session layer (layer 5), specified in ISO 17215-2; transport protocol (layer 4), specified in ISO 17215-4, ISO 13400-2; network layer (layer 3), specified in ISO 17215-4, ISO 13400-2; data link layer (layer 2

26、), specified in ISO 17215-4, ISO 13400-3; physical layer (layer 1), specified in ISO 17215-4, ISO 13400-3. ISO 2014 All rights reserved vBS ISO 17215-3:2014ISO 17215-3:2014(E)Table 1 Specifications applicable to the OSI layersApplicability OSI 7 layers Video communication interface for cameras Camer

27、a diagnosticsSeven layers according to ISO 74981 and ISO/IEC 10731Application (layer 7) ISO 17215-3Presentation (layer 6) ISO 17215-2Session (layer 5) ISO 17215-2Transport (layer 4) ISO 17215-4Other future interface standardsISO 13400-2Network (layer 3)Data link (layer 2) ISO 17215-4 ISO 13400-3Phys

28、ical (layer 1)ISO 17215-1 has been established in order to define the use cases for vehicle communication systems implemented on a video communication interface for cameras; it is an overall International Standard not related to the OSI model.ISO 17215-3 covers the application layer implementation o

29、f the video communication interface for cameras; it includes the API.ISO 17215-2 covers the presentation layer implementation of the video communication interface for cameras.ISO 17215-4 is the common standard for the OSI layers 1 to 4 for video communication interface for cameras. It complements IS

30、O 13400-2 and ISO 13400-3 and adds the requirement for video transmission over Ethernet.ISO 17215-2 and ISO 17215-3 (OSI layer 5 to 7) services have been defined to be independent of the ISO 17215-4 (OSI layer 1 to 4) implementation. Therefore, ISO 17215-4 could be replaced by other future communica

31、tion International Standard.vi ISO 2014 All rights reservedBS ISO 17215-3:2014INTERNATIONAL STANDARD ISO 17215-3:2014(E)Road vehicles Video communication interface for cameras (VCIC) Part 3: Camera message dictionary1 ScopeThis part of ISO 17215 specifies the standardized camera messages and data ty

32、pes used by a VCIC camera (OSI Layer 7).The scope of the camera application interface (API) and its context are shown in Figure 1.Applications hosted on ECUs want to communicate with one or more cameras (e.g. “Ask camera for parameters.”). If the applications can use standardized services supported

33、by the cameras (API layer 7), the development of a vision application should be independent of the camera used. The services can be implemented by general libraries.The definition of streaming data are not an issue of this API.Figure 1 Overview of ISO 17215The general terminology defined in ISO 1721

34、5-1 is also used in this part of ISO 17215. ISO 2014 All rights reserved 1BS ISO 17215-3:2014ISO 17215-3:2014(E)2 Normative referencesThe following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the ed

35、ition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.ISO7498-1, Information processing systems Open systems interconnection Basic reference modelISO/IEC 10731, Information technology Open Systems Interconnection Basic Reference

36、 Model Conventions for the definition of OSI servicesISO 17215 (all parts), Road vehicles Video communication interface for cameras (VCIC)3 Terms and definitions, symbols, and abbreviated terms3.1 Terms and definitionsFor the purposes of this document, the following terms and definitions apply.3.1.1

37、camera identification numberindividual camera identification number that identifies the supplier, camera type, and individual camera (e.g. MEE-32140-194565432-DD2RT supplier, camera type, serial number)3.1.2camera registerinternal HW registers of the camera3.1.3extrinsic parametersdenotes the coordi

38、nate system transformations from 3D world (vehicle) coordinates (m,) to 3D-camera coordinates (m,)3.1.4focal lengthdistance over which initially collimated rays are brought to a focus3.1.5frame rateupdate rate per time of camera images3.1.6global shutterexposure that exposes all pixels at the same t

39、ime3.1.7histogramtype of histogram that acts as a graphical representation of the tonal distribution in a digital image3.1.8intrinsic camera parametersdenote the coordinate system transformations from 3D camera (m) to 2D pixel coordinates (pixel)2 ISO 2014 All rights reservedBS ISO 17215-3:2014ISO 1

40、7215-3:2014(E)3.2 Abbreviated termsTerm DescriptionAPI Application Programming InterfaceAEC Automatic Exposure ControlAGC Automatic Gain ControlDAS Driver Assistance SystemECU Electronic Control UnitHDR High Dynamic RangeHMI Human Machine InterfaceISO International Organization for StandardizationLD

41、R Low Dynamic RangeMAC Media Access ControlOSI Open Systems InterconnectionPSE Persistent storage entryROI Region of Interest, i.e. sub-part of overall imageRPC Remote Procedure Call4 ConventionsThis International Standard is based on the conventions specified in the OSI service conventions (ISO/IEC

42、10731) as they apply for physical layer, protocol, network, and transport protocol and diagnostic services.5 Overview of ISO 172155.1 GeneralThis International Standard has been established in order to implement a standardized video communication interface for cameras on a communication data link.Th

43、e focus of this International Standard is using existing protocols. Figure 1 specifies the relation to the other parts of this International Standard. Figure 2 specifies the relation of this International Standard to existing protocols.5.2 Document overview and structureThis International Standard c

44、onsists of a set of four sub-documents, which provide all references and requirements to support the implementation of a standardized video communication interface for cameras according to the standard at hand. ISO 17215-1 provides an overview of the document set and structure along with use case de

45、finitions and a common set of resources (definitions, references) for use by all subsequent parts. ISO 2014 All rights reserved 3BS ISO 17215-3:2014ISO 17215-3:2014(E) ISO 17215-2 specifies the discovery and control of services provided by a VCIC camera. ISO 17215-3 specifies the standardized camera

46、 messages and data types used by a VCIC camera (OSI Layer 7). ISO 17215-4 specifies standardized low-level communication requirements for implementation of the physical layer, data link layer, network layer, and transport layer (OSI Layers 1 to 4).5.3 Open Systems Interconnection (OSI) modelThis Int

47、ernational Standard is based on the Open Systems Interconnection (OSI) basic reference model as specified in ISO/IEC 7498 which structures communication systems into seven layers.All parts of this International Standard are guided by the OSI service conventions as specified in ISO/IEC 10731 to the e

48、xtent that they are applicable to diagnostic services. These conventions define the interaction between the service user and the service provider through service primitives.The aim of this subclause is to give an overview of the OSI model and show how it has been used as a guideline for this part of

49、 ISO 17215. It also shows how the OSI service conventions have been applied to this International Standard.The OSI model structures data communication into seven layers called (from top to bottom) the application layer (layer 7), presentation layer, session layer, transport layer, network layer, data link layer, and physical layer (layer 1). A subset of these layers is used in this International Standard.The purpose of each layer is to provide services to the layer above. The active parts of each laye