ISO/DIS 21815-1
(Main)Earth-moving machinery -- Collision warning and avoidance
Earth-moving machinery -- Collision warning and avoidance
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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
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82 before casting their ballot to the e-Balloting application.
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ISO/DIS 21815-1:2020(E)
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ISO/DIS 21815-1:2020(E)
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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
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ISO/DIS 21815-1:2020(E)
Annex C (informative) Example of Operator’s Manual ...................................................................................................................14
Bibliography .............................................................................................................................................................................................................................16
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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
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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
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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 referencesThe 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 safetyISO 22242, Road construction and road maintenance machinery and equipment — Basic types —
Identification and descriptionISO 16001:2017, Earth-moving machinery — Object detection systems and visibility aids — Performance
requirements and testsISO 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 conditionsISO 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 safetyISO 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
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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 systemsISO 3450:2011, Earth-moving machinery — Wheeled or high-speed rubber-tracked machines —
Performance requirements and test procedures for brake systemsISO 12100, Safety of machinery — General principles for design — Risk assessment and risk reduction
3 Terms and definitionsFor 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 risk3.2
warning
transmission of alert information to the operator by visual, audible or other means of signals
3.3evasive action
action initiated by operator to attempt to prevent or avoid a foreseeable collision
EXAMPLE Example: braking, steering3.4
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 down3.5
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 area3.6
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 foreseeableNote 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 operator2 © ISO 2020 – All rights reserved
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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 action3.10
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
3.13false positive CxS action
unnecessary or inappropriate CxS action, caused by an incorrect determination of the collision risk level
3.14false negative CxS action
lack of necessary or appropriate CxS action, caused by an incorrect determination of the collision risk level
3.15CxS 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 CASNote 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 return3.18
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 condition3.19
system integrator
entity, providing whole system by the integrating the machine, the interface and the CxS devices
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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 modificationThe 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
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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 CxSThe 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
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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
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