This standard defines a joint calibration framework for roadside sensors, such as camera, Light Detection and Ranging (LiDAR), millimeter-wave radio detection and ranging (radar), and fused sensors. The standard defines the types of sensors involved (including their characteristics and measurement data features), the reference coordinate system, the calibration process, and the tools for calibrating the sensors. Additionally, the standard defines a data analysis method to assess the accuracy and reliability of the calibration results.