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This document is applicable to road vehicles with automated driving functions. The document series specifies the logical interface between in-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 part of the ISO 23150 document series specifies the technology specific logical interfaces for lidar sensors or sensor clusters: This document enhances the iso:proj:87975ISO/DIS 23150-1 and bases in particular on generic specifications of iso:proj:87975ISO/DIS 23150-1 (see Figure 2): This document does not provide electrical and mechanical interface specifications. Raw data interfaces are also excluded.