ISO/TS 22726-1:2023

TECHNICAL ISO/TS
SPECIFICATION 22726-1
First edition
2023-06
Intelligent transport systems —
Dynamic data and map database
specification for connected
and automated driving system
applications —
Part 1:
Architecture and logical data model
for harmonization of static map data
Systèmes de transport intelligents — Spécification de données
dynamiques et de bases de données cartographiques pour les
applications de système de conduite connectées et automatisées —
Partie 1: Architecture et modèle logique de données pour
l'harmonisation des données cartographiques statiques
Reference number
© ISO 2023
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms and symbols .3
5 Document structure and conformance . 4
5.1 Document structure . 4
5.2 Conformance . 4
6 Architecture. 4
7 Logical data model of map data . 5
7.1 Overall data model of map data. 5
7.2 Transportation package . 6
7.3 MHAD package . 7
7.3.1 General . 7
7.3.2 RoadBeltNetwork package . 11
7.3.3 LaneBeltNetwork package . 45
7.3.4 RoadStructureAndEquipment package . 62
7.3.5 CommonPropertyClasses package .128
7.4 Relationship to dynamic information .137
7.4.1 General .137
7.4.2 RoadNetworkElement .137
Annex A (normative) Abstract test suite . 138
Annex B (informative) Basic data types and stereotypes — concepts and definitions . 139
Annex C (informative) Resolution and accuracy of the MHAD .141
Annex D (informative) Comparison of the road network models of MHAD and existing map
models . 143
Bibliography . 146
iii
Foreword
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This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
A list of all parts in the ISO 22726 series can be found on the ISO website.
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iv
Introduction
In response to emerging automated driving system (ADS) development, a new requirement for an
intelligent transport system (ITS) map database standard has been raised to define a set of models for
highly confident map data.
The data used in ADS are categorized into static data (i.e. map for highly automated driving (MHAD) and
traditional map data) and dynamic data (e.g. traffic and travel information). These data are mutually
related and linked to support ADS. The data model for ADS should have a structure specialized for
automated driving and be presented in a manner useable for ADS.
In the case of static map data used by ITS, ISO 14296 specifies a logical data model applied to vehicle
navigation systems and cooperative ITS (C-ITS). The data model of ISO 14296 is insufficient for ADS
because of limitations to represent detailed or accurate carriageway and road-related features. In
addition, new relationships between new map features and dynamic data are defined.
Even though GDF 5.1 (ISO 20524-2) defines map data used in ADS such as road belts or lane belts as
detailed road map data, it focuses on a data model for exchanging and provisioning map data between
map makers and data centres. The GDF model, which is based on three catalogues (Feature, Attribute,
and Relationship), is inefficient not only for storing ITS map data in a database, but also for being able
to access that data rapidly in vehicles. Therefore, this document defines a database standard to quickly
and directly access detailed road map entities and their related information.
Implementation of this document can potentially lead to cost reductions in maintenance and expansion
of map access libraries, as well as reductions in compilation and maintenance costs of map and map-
related data for data providers for connected and automated driving, and vehicle control applications.
v
TECHNICAL SPECIFICATION ISO/TS 22726-1:2023(E)
Intelligent transport systems — Dynamic data and map
database specification for connected and automated
driving system applications —
Part 1:
Architecture and logical data model for harmonization of
static map data
1 Scope
This document specifies the architecture and the logical data model of static map data for connected
and automated driving system applications.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO/IEC 19501, Information technology — Open Distributed Processing — Unified Modeling Language
(UML) Version 1.4.2
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
belt
configuration concept for specifying an area bounded by side lines and terminal lines, characterized by
directions and represented as one or more linear axes when skeletonized
Note 1 to entry: The number of skeletonized axes differs depending on the feature class. In the case of a belt
applied to a one-way lane, the number is one. When applied to an intersection, the belt has axes corresponding to
the number of unique allowable traffic directions.
[SOURCE: ISO 20524-2:2020, 3.2]
3.2
direction
signature of belt, determined by an allowed connection between a pair of terminal lines
[SOURCE: ISO 20524-2:2020, 3.3]
3.3
belt feature
two-dimensional Feature bounded by three or more Edges or four or more NET coordinate Tuple
[SOURCE: ISO 20524-2:2020, 3.1.]
3.4
feature
database representation of a real-world object
[SOURCE: ISO 20524-1:2020, 3.4.9]
3.5
link
directed topological connection between two nodes, composed of an ordered sequence of one or more
segments and represented by an ordered sequence of zero or more shape points
[SOURCE: ISO/TS 20452:2007, 3.19]
3.6
node
data model entity for a topological junction of two or more links or end bounding a link
Note 1 to entry: A link stores the coordinate value of the corresponding GDF junction.
[SOURCE: ISO/TS 20452:2007, 3.23]
3.7
partition line
transversal line representing the boundary of a segment set to a road belt element and a lane belt
element, and both terminations are set on the side line of road belt element or lane belt element
3.8
probe data
vehicle sensor information formatted as probe data elements and/or probe messages that are processed,
formatted and transmitted to a land-based centre for processing to create a good understanding of the
driving environment
[SOURCE: ISO 24100:2010, 3.14]
3.9
road feature
feature, specified by a belt, that represents an area for vehicle travel
EXAMPLE Carriageways, intersections and lanes are examples of road features.
Note 1 to entry: This is a general term for the roadway, carriageways, intersections and lanes, and does not
contain the sidewalks and paths for pedestrians.
3.10
side line
type of boundary line constituting a belt feature other than a terminal line
[SOURCE: ISO 20524-2:2020, 3.4, modified — The admitted term "side line" has been added.]
3.11
terminal line
type of boundary line constituting a belt feature and designated for determining a direction of a belt
feature in combination with another terminal li
...