Earth-moving machinery -- Collision warning and avoidance

Titre manque

General Information

Status
Published
Current Stage
4060 - Close of voting
Start Date
16-Jun-2020
Completion Date
15-Jun-2020
Ref Project

Buy Standard

Draft
ISO/DIS 21815-1 - Earth-moving machinery -- Collision warning and avoidance
English language
17 pages
sale 15% off
Preview
sale 15% off
Preview

Standards Content (sample)

DRAFT INTERNATIONAL STANDARD
ISO/DIS 21815-1
ISO/TC 127/SC 2 Secretariat: ANSI
Voting begins on: Voting terminates on:
2020-03-23 2020-06-15
Earth-moving machinery — Collision warning and
avoidance —
Part 1:
General requirements
ICS: 53.100
Member bodies are requested to consult relevant national interests in ISO/TC
82 before casting their ballot to the e-Balloting application.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
This document is circulated as received from the committee secretariat.
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 21815-1:2020(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION. ISO 2020
---------------------- Page: 1 ----------------------
ISO/DIS 21815-1:2020(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2020

All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may

be reproduced 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 ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/DIS 21815-1:2020(E)
Contents Page

Foreword ..........................................................................................................................................................................................................................................v

Introduction ................................................................................................................................................................................................................................vi

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions ..................................................................................................................................................................................... 2

4 Performance requirements ....................................................................................................................................................................... 4

4.1 General ........................................................................................................................................................................................................... 4

4.1.1 Electro-magnetic compatibility (EMC) ......................................................................................................... 4

4.1.2 Environmental condition requirements ...................................................................................................... 4

4.1.3 Functional safety .............................................................................................................................................................. 4

4.1.4 Risk assessment ...................................................................... .......................................................................................... 4

4.1.5 Analysis on machine modification .................................................................................................................... 4

4.2 Requirements on CxS ......................................................................................................................................................................... 4

4.3 Detection of objects (objects and conditions for detection) ............................................................................ 5

4.4 Collision risk levels and CxS actions ..................................................................................................................................... 5

4.5 Outline of Process flow for CxS ................................................................................................................................................. 5

4.6 False CxS actions .................................................................................................................................................................................... 6

4.7 Operating state transition of CxS ............................................................................................................................................. 6

4.7.1 Switching between normal mode and stand-by mode .................. .................................................. 6

4.7.2 Switching between normal mode to override mode ......................................................................... 6

4.7.3 Status information .......................................................................................................................................................... 7

4.8 Self-checking, status indication and failure warning ............................................................................................. 7

4.9 Protection against unauthorized modification of system functions ......................................................... 7

5 System Classification ........................................................................................................................................................................................ 7

5.1 General ........................................................................................................................................................................................................... 7

5.2 Types of system capabilities ........................................................................................................................................................ 8

5.2.1 Take-off Inhibition CxS (TIC) ................................................................................................................................. 8

5.2.2 Swing Inhibition CxS (SIC) .................. ..................................................................................................................... 8

5.2.3 Manoeuvring Speed CxS (MSC) ........................................................................................................................... 8

5.2.4 Travel Speed CxS (TSC) .............................................................................................................................................. 8

5.3 System types ............................................................................................................................................................................................. 8

5.4 Types of detection ................................................................................................................................................................................ 8

5.5 Description of systems ..................................................................................................................................................................... 8

6 Test procedures ..................................................................................................................................................................................................... 9

6.1 General ........................................................................................................................................................................................................... 9

6.2 Test condition ........................................................................................................................................................................................... 9

6.2.1 Test environment condition ................................................................................................................................... 9

6.2.2 Test surface conditions ............................................................................................................................................... 9

6.3 Subject machine conditions ......................................................................................................................................................... 9

6.4 Specification of test objects .......................................................................................................................................................... 9

6.5 Performance test ................................................................................................................................................................................10

6.5.1 Test object installation .............................................................................................................................................10

6.5.2 Subject machine .................. .................................................... .......................................................................................10

6.5.3 Test result judgement criteria ...........................................................................................................................10

6.6 False positive CxS action test ...................................................................................................................................................10

7 CxS information ..................................................................................................................................................................................................10

7.1 Information for the operator ...................................................................................................................................................10

7.2 Information about residual risks..........................................................................................................................................10

Annex A (informative) Machine interaction scenario common examples .................................................................11

Annex B (informative) Comparison of system functions ..............................................................................................................13

© ISO 2020 – All rights reserved iii
---------------------- Page: 3 ----------------------
ISO/DIS 21815-1:2020(E)

Annex C (informative) Example of Operator’s Manual ...................................................................................................................14

Bibliography .............................................................................................................................................................................................................................16

iv © ISO 2020 – All rights reserved
---------------------- Page: 4 ----------------------
ISO/DIS 21815-1:2020(E)
Foreword

ISO (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 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 Electro technical Commission (IEC) on all matters of electro

technical 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 should 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 identifying 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 convenience 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 ISO's adherence to the World Trade Organization (WTO) principles in the

Technical Barriers to Trade (TBT) see the following URL: www .iso .org/ iso/ foreword .html.

The committee responsible for this document is Technical Committee ISO/TC 127, Earth-moving

machinery, Subcommittee SC 2, Safety, ergonomics and general requirements.

ISO 21815 consists of the following parts, under the general title Earth-moving machinery -- Collision

warning and avoidance
— Part 1: General requirements
— Part 2: On-board J1939 communication interface
— Part 3: Risk area and risk level
© ISO 2020 – All rights reserved v
---------------------- Page: 5 ----------------------
ISO/DIS 21815-1:2020(E)
Introduction

Increasing use of detection systems and avoidance technology in the area of earth-moving machinery

has been supporting operators to safely operate machines in the field of mining and construction. At

the same time, there are demands to set standards for machines and systems detecting, alerting and

intervening to mitigate collision risk.

There are currently two existing standards in the field: ISO 16001:2017 Earth-moving machinery –

Object detection systems and visibility aids – Performance requirements and tests, and ISO 17757:2017

Earth-moving machinery – Autonomous machinery system safety. These standards provide guidance

for visibility aids and object detection systems and for autonomous and semi-autonomous machines,

however, there is currently no standard that describes collision risk awareness, warning signals and

collision avoidance actions of the machinery operated by humans when there is a risk of collision.

Collision warning and avoidance system is a developing technology and algorithms are not yet mature

and well understood. This document is intended to foster innovation and accelerate the pace of

improvements in new collision warning and avoidance technologies. The performance requirements of

this document are technology neutral and do not specify technologies to make the requirements.

The systems described in this document are intended to assist the operator of the machine. As current

technologies are unable to achieve full collision warning/avoidance in every situation the responsibility

for safe operation of the machine remains with the operator of the machine .

This document is a part of ISO 21815-series relating to: communication interfaces, collision risk areas

and collision risk levels, specific requirements for collision warning and collision avoidance systems,

and specific use case requirements.
vi © ISO 2020 – All rights reserved
---------------------- Page: 6 ----------------------
DRAFT INTERNATIONAL STANDARD ISO/DIS 21815-1:2020(E)
Earth-moving machinery — Collision warning and
avoidance —
Part 1:
General requirements
1 Scope

This document provides terminology and general guidance on the principles of collision warning and

collision avoidance systems for:
— earth moving machinery as defined in ISO 6165,
— mobile underground mining machinery as defined in ISO 19296, and
— road construction machinery as defined in ISO 22242.

This document provides general requirements for detection of objects, warnings to the operator,

automatic intervention control to avoid collision, and test procedures. It is intended to be used in

conjunction with the other parts of ISO 21815, which describe detailed guidance and requirements

for collision warning and collision avoidance systems and determining risk areas and risk levels. The

specific requirements and definitions for particular types of machines are defined in the use case parts.

Collision avoidance systems described in this document address inhibiting, slowing down or stopping

machine movement and do not address steering.

The system described in this document is only intended to assist the operator of the machine. The

responsibility for safe operation of the machine remains with the operator of the machine.

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 6165, Earth-moving machinery — Basic types — Identification and terms and definitions

ISO 19296, Mining — Mobile machines working underground — Machine safety

ISO 22242, Road construction and road maintenance machinery and equipment — Basic types —

Identification and description

ISO 16001:2017, Earth-moving machinery — Object detection systems and visibility aids — Performance

requirements and tests

ISO 13766-1:2018, Earth-moving and building construction machinery — Electromagnetic compatibility

(EMC) of machines with internal electrical power supply — Part 1: General EMC requirements under typical

electromagnetic environmental conditions

ISO 13766-2:2018, Earth-moving and building construction machinery — Electromagnetic compatibility

(EMC) of machines with internal electrical power supply — Part 2: Additional EMC requirements for

functional safety

ISO 19014-1, Earth-moving machinery — Functional safety — Part 1: Methodology to determine safety-

related parts of the control system and performance requirements
© ISO 2020 – All rights reserved 1
---------------------- Page: 7 ----------------------
ISO/DIS 21815-1:2020(E)

ISO 19014-3, Earth-moving machinery — Functional safety — Part 3: Environmental performance and test

requirements of electronic and electrical components used in safety-related parts of the control system

ISO 13849, Safety of machinery — Safety-related parts of control systems

ISO 3450:2011, Earth-moving machinery — Wheeled or high-speed rubber-tracked machines —

Performance requirements and test procedures for brake systems

ISO 12100, Safety of machinery — General principles for design — Risk assessment and risk reduction

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 http:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
interaction

situation where a machine encounters another object when moving or about to move, placing itself or

the operator at risk, or exposing the objects to risk
3.2
warning

transmission of alert information to the operator by visual, audible or other means of signals

3.3
evasive action

action initiated by operator to attempt to prevent or avoid a foreseeable collision

EXAMPLE Example: braking, steering
3.4
interventional collision avoidance action

automatic action initiated by the system to attempt to prevent or avoid a foreseeable collision

EXAMPLE Example: braking, inhibiting motion, slowing down
3.5
intended object

an object, such as people, machine, vehicle or obstacle, which is intended to be detected by CWS or CAS

when in the collision risk area
3.6
collision risk level

value that is assigned each intended object based on the analysis of the state of the machine to determine

if a collision is foreseeable
Note 1 to entry: collision risk levels are described in ISO 21815-3
3.7
collision risk area
space analysed to determine the collision risk level
3.8
collision warning system
CWS

system which detects intended objects in the collision risk area, evaluates the collision risk level and

provides a warning to the operator
2 © ISO 2020 – All rights reserved
---------------------- Page: 8 ----------------------
ISO/DIS 21815-1:2020(E)
3.9
collison avoidance system
CAS

system which detect intended objects in the collision risk area, evaluate the collision risk level and

provides interventional collision avoidance action
3.10
CxS
CWS or CAS or a system providing both
3.11
detection
acknowledgement of intended objects by a CxS
3.12
CxS action

CxS providing warning to the operator or CAS taking interventional collision avoidance action

3.13
false positive CxS action

unnecessary or inappropriate CxS action, caused by an incorrect determination of the collision risk level

3.14
false negative CxS action

lack of necessary or appropriate CxS action, caused by an incorrect determination of the collision risk level

3.15
CxS device
CxD

device with sensors providing CxS functions to detect objects in the proximity of the machine, assess

the collision risk level, warn the operator of the presence of the object for a CWS, and/or provide signals

to the machine control system via a communication interface to initiate the appropriate interventional

collision avoidance action on the machine for a CAS

Note 1 to entry: CxS device is described as CxD in other parts of the standard series.

Note 2 to entry: Proximity Detection System (PDS) is a colloquial industry term for a physical device providing

CWS or CAS functionality.
3.16
normal mode

operational mode whereby a CxS is active and ready to provide all functions equipped in the CxS,

including warning information and interventional collision avoidance action.
3.17
stand-by mode

operational mode selected by an authorized person, whereby a CxS can be active, but warning

information or interventional collision avoidance action or both are not provided by the system, in an

extended period of time, without automatic return
3.18
override mode

operational mode selected by the operator, whereby a CxS can be active, but warning information or

interventional collision avoidance action or both are suspended temporarily and return automatically

to normal mode after certain condition
3.19
system integrator

entity, providing whole system by the integrating the machine, the interface and the CxS devices

© ISO 2020 – All rights reserved 3
---------------------- Page: 9 ----------------------
ISO/DIS 21815-1:2020(E)
4 Performance requirements
4.1 General

This document specifies the principles of operation, basic functionality, system requirements and

general test requirements for collision warning and collision avoidance systems. This standard series

intends to support the operator to safely operate the machine.

This standard series is not intended to require plug-and-play capability between CxS devices and

CxS device-ready machines. Technical details not described in this document should be agreed upon

between the CxS device manufacturer, the CxS device-ready machine manufacturer and system

integrator, as applicable.
4.1.1 Electro-magnetic compatibility (EMC)

A CxS device providing CWS capability shall be in conformance with ISO 13766-1. A CxS device that

provides CAS capability shall be in conformance with both ISO 13766-1 and ISO 13766-2. The EMC

testing of the CxS device may be performed treating the CxS device as an electronic sub-assembly or

with the CxS device incorporated into the machine.

NOTE the addition of a CxS device could negatively impact ISO 13766-1 or ISO 13766-2 conformance of the

machine and could require a combined re-evaluation of the CxS-equipped machine.
4.1.2 Environmental condition requirements

Safety-related parts (SRP) of a CxS device providing CAS capability identified per definition in

ISO 19014-1 or ISO 13849 shall meet the requirements of ISO 19014-3.
4.1.3 Functional safety

The addition of a CxS device with CWS or CAS capability shall not negatively impact the performance

level achieved (e.g. ISO 19014, ISO 15998, ISO 13849) of the safety control system of the original

machine.

NOTE The addition of CxS device could require a combined re-evaluation of the CxS device-equipped

machine.
The consequence of adding CxS device shall be analyzed using a risk assessment.
4.1.4 Risk assessment

A risk assessment process for a CxS device-equipped machine shall be completed according to the

principles of ISO 12100. All identified risks shall be mitigated to acceptable risk levels as part of the risk

assessment process. The results of the risk assessment shall be formally documented.

4.1.5 Analysis on machine modification

The addition of CxS device shall require an analysis to be completed as it could negatively impact the

original machine’s safety and performance characteristics (guidance can be found in standards e.g.

ISO 20474-series, ISO 19296).
4.2 Requirements on CxS

Collision warning systems (CWS) and collision avoidance systems (CAS) shall detect intended objects

(e.g. people, other machines, vehicles, and obstacles) within the collision risk area and take CxS action

as defined below:

— CWS shall provide a warning to instruct the operator to maintain the machine in a stationary state

if an intended object is present or to immediately apply evasive action.
4 © ISO 2020 – All rights reserved
---------------------- Page: 10 ----------------------
ISO/DIS 21815-1:2020(E)

— CAS shall provide interventional collision avoidance action without requiring an operator action.

NOTE 1 The collision risk areas can be in front, beside or behind machines along the travel path of the machine.

For excavators and other machines where all or part of the machine can rotate, the risk area also includes the area

where the machine can rotate. Detailed guideline of collision risk area and for the collision risk level assessment

are described in the later parts.
4.3 Detection of objects (objects and conditions for detection)

Appropriate detection technology differs depending on the machine type and the object type to be

detected. ISO 16001:2017, Annex A summarises existing ODS. The technologies should be selected,

and combined as adequate, according to the objectives, with consideration to the advantages and

disadvantages of differing types.
4.4 Collision risk levels and CxS actions

The system shall, based on the detection information of objects and machine operating conditions,

assess the collision risk level and provide at least one of the CxS actions, as appropriate, as shown below:

— warning signal to the operator (CWS)
— interventional collision avoidance action (CAS)

Interventional collision avoidance actions provided by the system depend on what functions are

installed in the system. Collision risk level judgement criteria and interventional collision avoidance

action/s depend on the machine type (such as dumper, dozer, hydraulic excavators and others).

Collision warning and avoidance systems that have limited capabilities (eg. limited speed and distance)

could have different limits of use based on the use cases that are defined in the later parts of this

standard series. The limitation for each use case shall be defined in the operations manual.

4.5 Outline of Process flow for CxS

The CxS process flow outline in Figure 1 uses braking as an example of the CxS action.

The CWS searches for objects in the collision risk area and confirms the existence of object. When

an intended object is detected, the CWS will provide a warning to the operator as determined by the

collision risk level.

The CAS searches for objects in the collision risk area and confirms the existence of objects. When

an intended object is detected, the CAS will provide an interventional collision avoidance action as

determined by the collision risk level.
© ISO 2020 – All rights reserved 5
---------------------- Page: 11 ----------------------
ISO/DIS 21815-1:2020(E)
Figure 1 — Example of a high level process flow diagram for CWS and CAS
4.6 False CxS actions
Both false positive and false negative CxS actions shall be minimized.
4.7 Operating state transition of CxS

A CxS may have different operational modes: normal mode, stand-by mode, and override mode. Figure

2 flowchart describes an example of operating state transition of a CxS.
4.7.1 Switching between normal mode and stand-by mode

When a CxS is equipped with a stand-by mode (CxS disengage), it shall be a deliberate action by an

authorized person. The CxS shall require authentication means, (e.g. password, key) to enable the

stand-by mode.
A CxS shall not be able to automatically switch to the stand-by mode.
By default, a CxS should start in normal mode upon machine startup.
4.7.2 Switching between normal mode to override mode

When a machine is equipped with a means to shift a CxS to an override mode, it shall be a delib

...

Questions, Comments and Discussion

Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.