ISO 17757:2017

Earth-moving machinery and mining - Autonomous and semi-autonomous machine system safety

ISO 17757 provides safety requirements for autonomous machines and semi-autonomous machines used in earth-moving and mining operations, and their autonomous or semi-autonomous machine systems (ASAMS). It specifies safety criteria both for the machines and their associated systems and infrastructure, including hardware and software, and provides guidance on safe use in their defined functional environments during the machine and system life cycle. It also defines terms and definitions related to ASAMS. It is applicable to autonomous and semi-autonomous versions of the earth-moving machinery (EMM) defined in ISO 6165 and of mobile mining machines used in either surface or underground applications. Its principles and many of its provisions can be applied to other types of autonomous or semi‑autonomous machines used on the worksites. Safety requirements for general mobile EMM and mining machines, as well as operators, trainers or passengers on the machine, are given by other International Standards (e.g. ISO 20474, ISO 19296). ISO 17757 addresses additional hazards specific and relevant to ASAMS when used as intended. It is not applicable to remote control capability (covered by ISO 15817) or function-specific automated features, except when those features are used as part of ASAMS.

Engins de terrassement et exploitation minière — Sécurité de système de machine autonome et semi-autonome

General Information

• Status: Withdrawn
• Publication Date: 02-Oct-2017
• Withdrawal Date: 02-Oct-2017
• ICS: 53.100 - Earth-moving machinery
• Technical Committee: ISO/TC 127/SC 2 - Safety, ergonomics and general requirements
• Drafting Committee: ISO/TC 127/SC 2/WG 22 - Joint ISO/TC 127/SC 2 - ISO/TC 82 - ISO/TC 82/SC 8 WG: Autonomous machine safety
• Parallel Committee: ISO/TC 82 - Mining
• Current Stage: 9599 - Withdrawal of International Standard
• Start Date: 30-Jul-2019
• Completion Date: 13-Dec-2025

Relations

• Revised: ISO 17757:2019 - Earth-moving machinery and mining - Autonomous and semi-autonomous machine system safety
• Effective Date: 23-Jun-2018

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 17757
First edition
2017-09
Earth-moving machinery and
mining — Autonomous and semi-
autonomous machine system safety
Engins de terrassement et exploitation minière — Sécurité de système
de machine autonome et semi-autonome
Reference number
©
ISO 2017
© ISO 2017, Published in Switzerland
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form
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ii © ISO 2017 – All rights reserved

Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms, definitions and abbreviated terms . 2
4 Safety requirements and/or protective/risk reduction measures . 6
4.1 General . 6
4.2 Stop systems . 6
4.2.1 General. 6
4.2.2 All-stop system . 6
4.2.3 Remote stop system . 6
4.3 Warning devices and safety signs . 6
4.3.1 Visual indicators . 6
4.3.2 Audible alarms . 7
4.3.3 Safety signs . 7
4.4 Fire protection . 7
4.5 Machine access systems . 7
4.6 Braking and steering . 7
4.6.1 General. 7
4.6.2 Braking . 8
4.6.3 Steering . 8
4.7 Adaptation to environmental conditions . 9
4.8 On-board electrical power . 9
4.8.1 General. 9
4.8.2 Requirements . 9
5 Positioning and orientation (POSE) .10
5.1 General .10
5.2 Risk and failure modes .10
5.3 Requirements .10
6 Digital terrain map (DTM) .10
6.1 General .10
6.2 Requirements .11
7 Perception .11
7.1 General .11
7.2 Risk and failure modes .11
7.2.1 Failure to detect or late detection of an object .11
7.2.2 False detection of non-existent object .12
7.2.3 Erroneous location of a detected object .12
7.2.4 Misclassification of an object .12
7.3 Requirements .12
8 Navigation system .12
8.1 General .12
8.2 Risks .13
8.3 Requirements .13
9 Task planner .13
9.1 General .13
9.2 Risks .13
9.3 Requirements .13
10 Communications and networks .14
10.1 General .14
10.2 Risk and failure modes .14
10.2.1 Risks .14
10.2.2 Failure modes .14
10.2.3 Potential causes .15
10.3 Communication systems requirements .15
10.3.1 Communication security .15
10.3.2 Communication security .15
10.4 Safety messages.15
11 ASAM supervisor system .16
11.1 General .16
11.2 Requirements .16
12 AOZ access, permissions and security .17
12.1 Permissions and security .17
12.2 AOZ access and warnings .17
12.3 Operational risks .17
12.4 Mode changes .18
13 ASAMS site operating procedures .18
13.1 General .18
13.2 Incident recording .18
13.3 Commissioning .18
13.4 Documentation and training .18
13.4.1 Documentation .18
13.4.2 Training .19
14 Operational hazard controls .19
15 Verification of safety requirements and/or protective/risk reduction measures .19
16 Information for use .20
16.1 Safety labels and machine markings .20
16.2 User manual .20
Annex A (informative) List of significant hazards.21
Annex B (informative) Safety and the risk management process .23
Annex C (informative) Integration of ASAMS into the site planning process.26
Annex D (informative) Access control systems .28
Annex E (informative) Change management — Example for mining.30
Annex F (informative) Supervision .32
Annex G (informative) Commissioning .33
Annex H (informative) Operational hazard controls .35
Bibliography .36
iv © ISO 2017 – All rights reserved

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 Electrotechnical Commission (IEC) on all matters of
electrotechnical 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 voluntary nature of standards, 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.
This document was prepared by Technical Committee ISO/TC 127, Earth-moving machinery,
Subcommittee SC 2, Safety, ergonomics and general requirements.
Introduction
This document is a type-C standard as stated in ISO 12100.
The machinery concerned and the extent to which hazards, hazardous situations or hazardous events
are covered are indicated in the Scope of this document.
When requirements of this type-C standard are different from those which are stated in type-A or -B
standards, the requirements of this type-C standard take precedence over the requirements of the
other standards for machines that have been designed and built according to the requirements of this
type-C standard.
Mining input for this document was obtained through liaisons with the GMSG (global mining standards
and guidelines group) and the Western Australia Mobile Autonomous Machine Systems Working Group.
vi © ISO 2017 – All rights reserved

INTERNATIONAL STANDARD ISO 17757:2017(E)
Earth-moving machinery and mining — Autonomous and
semi-autonomous machine system safety
1 Scope
This document provides safety requirements for autonomous machines and semi-autonomous machines
used in earth-moving and mining operations, and their autonomous or semi-autonomous machine
systems (ASAMS). It specifies safety criteria both for the machines and their associated systems and
infrastructure, including hardware and software, and provides guidance on safe use in their defined
functional environments during the machine and system life cycle. It also defines terms and definitions
related to ASAMS.
It is applicable to autonomous and semi-autonomous versions of the earth-moving machinery
(EMM) defined in ISO 6165 and of mobile mining machines used in either surface or underground
applications. Its principles and many of its provisions can be applied to other types of autonomous or
semi-autonomous machines used on the worksites.
Safety requirements for general mobile EMM and mining machines, as well as operators, trainers or
passengers on the machine, are given by other International Standards (e.g. ISO 20474, ISO 19296). This
document addresses additional hazards specific and relevant to ASAMS when used as intended.
It is not applicable to remote control capability (covered by ISO 15817) or function-specific automated
features, except when those features are used as part of ASAMS.
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 2867, Earth-moving machinery — Access systems
ISO 3450:2011, Earth-moving machinery — Wheeled or high-speed rubber-tracked machines —
Performance requirements and test procedures for braking systems
ISO 5010:2007, Earth-moving machinery — Rubber-tyred machines — Steering requirements
ISO 6165, Earth-moving machinery — Basic types — Identification and terms and definitions
ISO 9533, Earth-moving machinery — Machine-mounted audible travel alarms and forward horns — Test
methods and performance criteria
ISO 10265:2008, Earth-moving machinery — Crawler machines — Performance requirements and test
procedures for braking systems
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 19296, Mining and earth-moving machinery — Mobile machines working underground — Machine
1)
Safety
ISO 20474-1, Earth-moving machinery — Safety — Part 1: General requirements
1) Under preparation.
3 Terms, definitions and abbreviated terms
For the purposes of this document, the terms and definitions given in ISO 6165, ISO 12100 and the
following terms, definitions and abbreviated terms 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
autonomous or semi-autonomous machine system
ASAMS
machine and supporting systems and infrastructure (3.11) that enable the machine to operate in
autonomous mode (3.3)
Note 1 to entry: An example of representative components of an ASAMS is shown in Figure 1. However, this
document does not describe or provide detail for all the specific components identified in Figure 1.
Figure 1 — Representative ASAMS components
2 © ISO 2017 – All rights reserved

3.2
autonomous or semi-autonomous machine supervisor system
ASAM supervisor system
system providing the primary user interface and “command and control centre” for operation in
autonomous mode (3.3)
3.3
autonomous mode
mode of operation in which a mobile machine performs all machine safety-critical and earth-moving or
mining functions related to its defined operations without operator interaction
Note 1 to entry: The operator could provide destination or navigation input, but is not needed to assert control
during the defined operation.
3.3.1
autonomous machine
mobile machine that is intended to operate in autonomous mode (3.3) during its normal operating cycle
Note 1 to entry: The abbreviation “ASAM” is used throughout this document to refer both to autonomous
machines and semi-autonomous machines (3.3.2) operating in autonomous mode.
3.3.2
semi-autonomous machine
mobile machine that is intended to operate in autonomous mode (3.3) during part of its operating cycle
and which requires active control by an operator to complete some of the tasks assigned to the machine
Note 1 to entry: The abbreviation “ASAM” is used throughout this document to refer both to semi-autonomous
machines operating in autonomous mode and autonomous machines (3.3.1).
3.4
autonomous operating zone
AOZ
autonomous area
designated area in which machines are authorized to operate in autonomous mode (3.3)
3.5
AOZ access control system
physical barrier or virtual or electronic system that monitors, authorizes and controls access, egress and
transition of people and equipment between existing autonomous operating zones (3.4) and other areas
3.6
competent person
person who, in relation to the work undertaken, has the necessary knowledge, skill, training and
experience to complete the work satisfactorily and without danger or injury to any person
[SOURCE: ISO 7240-19:2007, 3.1.5]
3.7
digital terrain map
DTM
topographical description of the site in digital format
3.8
function-specific automated feature
automated feature having a specific control function whereby the operator has overall control and is
solely responsible for safe operation, but can cede limited authority over a manual control (e.g. grade
control, auto-dig, antilock brakes, traction control)
Note 1 to entry: The feature can automatically assume limited authority over a machine function (e.g. electronic
stability control).
3.9
halted state
condition in which all motion of a machine is stopped and an operator action is required to resume its
operation
3.10
operator interaction
involvement of an operator to provide information to or control of an ASAMS (3.1), such as the transition
between autonomous mode (3.3) and manual mode (3.13), or to provide any type of exception handling
3.11
infrastructure
work site equipment and facilities used in support of a machine’s operation in autonomous mode (3.3)
EXAMPLE Communications network, solar power stations, GNSS base station, physical barrier systems.
3.12
layers of protection
independent processes or actions taken to prevent or address potential hazardous events leading to an
unsafe consequence
3.13
manual mode
mode of operation in which a machine is controlled by an operator who is responsible for monitoring
the surroundings and for safe operation of all machine controls
Note 1 to entry: Manually operated machines can have function-specific automated features.
3.14
approach mode
mode that allows access to the ASAMS (3.1)
3.15
mode indicator
means by which a machine shows whether it is in manual mode (3.13), autonomous mode (3.3) or
remote-control mode
3.16
operator
system operator
person having control and responsibility for the operation of an autonomous machine (3.3.1) or a
semi-autonomous machine (3.3.2) and the ASAMS (3.1)
3.17
remote-stop system
system that brings all autonomous machines (3.3.1) and semi-autonomous machines (3.3.2) within a
defined range of a mobile stop device to a halted state (3.9) when initiated
3.18
all-stop system
system that brings all autonomous machines (3.3.1) and semi-autonomous machines (3.3.2) in the AOZ
(3.4) to a halted state (3.9) when initiated
3.19
perception system
system comprising sensors used to detect, locate and recognize a potential feature of interest
3.20
remote control
operator control of a machine from a device not located on the machine
4 © ISO 2017 – All rights reserved

3.21
safe state
condition, whether or not an autonomous machine (3.3.1) or semi-autonomous machine (3.3.2) is
operating or is shut down, such that a hazardous safety, health and environment event is at an acceptable
level of risk based on a risk assessment
3.22
site manager
entity responsible for managing the entire work site, with overall responsibility for the operators and
site operations
3.23
situational awareness
perception of elements in the environment, and a comprehension of their meaning, and could include a
projection of the future status of perceived elements and the risk associated with that status
3.24
system integrator
entity responsible for design, installation and setup of the autonomous and semi-autonomous machine
and system
3.25
risk assessment
overall process comprising a risk analysis and a risk evaluation
Note 1 to entry: See ISO 12100.

AOZ autonomous operating zone
ASAM autonomous or semi-autonomous machine
ASAMS autonomous or semi-autonomous machine system
ECU electronic control unit
ECM electronic control module
GNSS global navigation satellite system
IMU inertial measurement unit
DTM digital terrain map
UM unmanned machine
POSE positioning and orientation
RC remote control
4 Safety requirements and/or protective/risk reduction measures
4.1 General
ASAMS shall comply with the safety requirements and/or protective/risk reduction measures of
this clause.
A risk assessment process for ASAMS 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.
Annex B gives general information on risk assessment for ASAMS. The results of the risk assessment
shall be formally documented.
Safety-related parts of control systems shall comply with the appropriate functional safety performance
level. See, for example, ISO 13849, ISO 19014, IEC 62061 or IEC 61508.
The general safety requirements provided in ISO 20474 are applicable to earth-moving ASAM, and
those given in ISO 19296 are applicable to underground mining ASAM. The requirements relating to an
on-board operator where the machine is not equipped with an on-board operator's station do not apply.
4.2 Stop systems
4.2.1 General
All ASAM shall have a means to be stopped from a safe, remote distance.
4.2.2 All-stop system
If the ASAMS includes a remote ASAM supervisor system, that system shall have a means for the
operator to stop all ASAM under his or her control: an all-stop system.
After an ASAM is stopped, operator intervention shall be required to restart machine motion.
The all-stop system performance criteria should be provided in the supplier's documentation.
The performance criteria should indicate the expected delay and maximum delay before the machine’s
braking system is activated.
4.2.3 Remote stop system
When risk assessment shows a need, ASAMS shall be equipped with an additional remote stop system
which is distinct from the all-stop system specified in 4.2.2. The remote stop system shall enable a
person to bring all ASAM within the required range (based on risk assessment) of the remote stop device
to a halted state. Alternatively, the remote stop device may bring all ASAM in the AOZ to a halted state.
After a machine is stopped, operator intervention shall be required to restart machine motion.
The remote stop system performance criteria should be provided in the supplier's documentation.
The performance criteria should indicate the expected delay and maximum delay before the machine’s
braking system is activated.
4.3 Warning devices and safety signs
4.3.1 Visual indicators
The machine’s operating mode shall be indicated. The indicators listed in Table 1 are recommended. An
ASAM shall also have a means to indicate that the ASAM is in the approach mode, in which the ASAM
will not move without on-board intervention.
6 © ISO 2017 – All rights reserved

Table 1 — Visual references
Mode Light/pattern Description/observation
Manual Flashing green Used to indicate that a machine is in manual mode. The manual indicator is
included to ensure that there is always at least one indicator on an ASAM. If
the manual light is not used, there shall be a method to diagnose failures of
the other indicators.
Autonomous Flashing blue Indicates that an ASAM is operating in autonomous mode.
Where local practice does not allow these colours or patterns, all machines on an ASAMS site should
use a consistent mode indication scheme. Where indicators are used, they shall be clearly visible so that
the operating mode can be recognized a safe distance from the machine.
4.3.2 Audible alarms
ASAM should be capable of providing the same audible warnings that the work site is using for engine
start, pre-movement and movement alarming on manned machines.
EXAMPLE The machine emits a configured number of horn blasts before undertaking a given action, a cyclic
beeping pattern while moving.
If warning devices are provided, they shall be compliant with ISO 9533.
4.3.3 Safety signs
ISO 9244 applies for safety signs and warning labels.
4.4 Fire protection
A fire suppression system shall be provided if the risk assessment requires one. The means of its
activation (i.e. automatically or remotely) shall be determined by the risk assessment.
4.5 Machine access systems
Access systems that comply with ISO 2867 shall be provided for all areas on ASAM that require access
more frequently than every 30 days.
4.6 Braking and steering
4.6.1 General
The ability to maintain a safe speed and effective heading is a fundamental necessity for ASAM. With
autonomous machines, electronic commands from the control system are used to control the brakes
and steering system of the machine.
Because of the added complexity, additional safety criteria are necessary:
a) all ASAM shall have on-board capability to bring the machine to a stop;
b) when the ASAMS is operating within the specified operating environment, the control systems
shall be able to cause the machine to brake while maintaining safe operation (e.g. braking under
adverse conditions);
c) The ASAMS shall have provisions to ensure that safe operating temperatures and pressures in
the braking and steering systems have been reached before the machine is put into operation in
autonomous mode.
4.6.2 Braking
According to ISO 3450 or ISO 10265, the braking performance of a manned machine is measured from
the time the on-board operator presses the brake pedal until the machine stops.
For an ASAM, the braking performance shall be measured from the time the on-board command is
received by the machine brake subsystem until the machine stops.
The testing of the braking systems of wheeled ASAM shall meet the requirements of ISO 3450:2011,
Clause 4, except where the requirements specifically apply to an on-board operator The warning device
for stored energy sources specified in ISO 3450:2011, 4.9, shall alert the system operator.
The ASAMS shall maintain a safe state when a loss of brake stored energy is detected.
ISO 3450:2011, 4.12.2, which relates to the braking system and periodic verification instructions,
applies for wheeled ASAM, except that manuals, labels or other means providing information on brakes
shall be provided wherever the operator is located.
ISO 3450:2011, Clauses 5 and 6, apply for wheeled ASAM, except for ISO 3450:2011, 6.2, which is
applicable only to those machines equipped with an on-board operator's station. Testing shall be
carried out in both manual mode (on-board operator, when applicable) and autonomous mode. The
measurement or reporting of control forces might not be necessary. The test report for a wheeled ASAM
shall be in accordance with ISO 3450:2011, Clause 7.
The testing of the braking systems of crawler ASAM shall meet the requirements of ISO 10265:2008,
Clause 4, except ISO 10265:2008, 4.2. The warning device for exhaustible energy sources specified in
ISO 10265:2008, 4.4, shall readily attract the operator’s attention — independent of where the operator
is physically located.
ISO 10265:2008, Clause 7, which relates to the braking system and periodic verification instructions,
applies for crawler ASAM, except that manuals, labels or other means providing information on brakes
shall be provided wherever the operator is located.
ISO 10265:2008, Clauses 5, 6 and 7, apply to crawler ASAM, except for the control forces described in
ISO 10265:2008, 6.1.3, applicable only to those machines equipped with an on-board operator’s station.
Testing shall be carried out in both manual mode (on-board operator, when applicable) and autonomous
mode. The measurement or reporting of control forces is only applicable to machines equipped with
an on-board operator’s station. The test report for the crawler ASAM shall be in accordance with
ISO 10265:2008, Clause 8.
The braking systems of mobile mining ASAM working underground shall be in accordance with
ISO 19296, except where the requirements specifically apply to an on board operator.
4.6.3 Steering
The steering systems of wheeled ASAM shall be in accordance with ISO 5010, with the following
exceptions/modifications.
a) The general requirements of ISO 5010:2007, 4.1.1, 4.1.2 and 4.1.10, apply only to machines equipped
with an on-board operator's station, with the exception of ISO 5010:2007, 4.1.1.3 and 4.1.1.4, which
shall apply regardless of whether or not an on-board operator's station is present.
b) The steering control priority requirements of ISO 5010:2007, 4.2.1, only apply to manually operated
machines. For ASAM operating in autonomous mode, the conventional steering wheel might not
have any priority or ability to steer the machine while in autonomous mode, and this exception
should be clearly explained in the operator’s manual.
c) The ergonomic requirements of ISO 5010:2007, Clause 5, apply only to machines equipped with an
on-board operator's station.
8 © ISO 2017 – All rights reserved

d) The performance requirements of ISO 5010:2007, 6.4, apply to ASAM; those of ISO 5010:2007, 6.1,
6.2 and 6.3 apply only to machines with an on-board operator's station.
In addition, the ASAMS shall alert the operator when any electronic steering system component has
failed or is unable to maintain safe operation.
e) The provisions for steering tests given in ISO 5010:2007, Clause 10, apply, except for those of
ISO 5010:2007, 10.3.1 and 10.3.7; the recording of the steering effort specified in ISO 5010:2007,
10.2.3 and 10.3.7, is not necessary for ASAM.
f) Replace ISO 5010:2007, 4.3, with the following requirement: In the case of a single electronic control
system failure on the ASAM steering controller, the ASAM shall maintain a safe state as specified
by the risk assessment of the ASAMS.
The ASAMS shall have a provision for periodically checking the steering capability. The check period
and method (automatic or manual) shall be based on the risk assessment. If the steering system
does not meet the steering performance requirements, then ASAM operation (e.g. speed, slope, load,
autonomous mode) shall be limited to maintain a safe state.
This periodic check of the steering systems may be carried out by either the ASAMS or the operator.
4.7 Adaptation to environmental conditions
Based on the risk assessment, the ASAMS shall be capable of adapting to environmental conditions
as long as any changes in the environmental conditions are within identified constraints. These
may include the use of human operators or automated systems to make speed adjustments, disable
operations, close off areas or other adjustments as needed to maintain safe operation.
4.8 On-board electrical power
4.8.1 General
The on-board autonomy electronics of ASAM can place additional demands on the machine system
beyond the needs of a non-autonomous machine. It is particularly important that the ASAMS
manufacturer or integrator considers these extra electrical power needs.
4.8.2 Requirements
ASAM electrical and electronic systems shall conform with the general machine requirements for
electrical and electronic systems in ISO 20474-1 or ISO 19296, as applicable.
Any sudden loss of electrical power to the machine electronics can lead to an undesirable and potentially
hazardous outcome. ASAM shall have the capability to respond to electrical system failures, including
the loss of electrical (supply) power to all controllers (ECM, ECU) that affect machine motion.
The electrical power source shall be capable of maintaining the power to the machine’s systems in order
to achieve a halted state and maintain a safe state.
ASAM shall have an adequate source of electrical power during operation in autonomous mode,
including
a) sufficient battery reserve for the intended environmental conditions,
b) sufficient alternator capacity for additional autonomy related electronics, and
c) sufficiently gauged wiring for increased current carrying capability.
ASAM shall have sufficient reserve battery capacity to maintain all machine electronics, with the
machine’s engine off or when the alternator is not generating power, to maintain a safe state and
complete an orderly shut-down of the machine for all intended environmental conditions.
When machine electrical power is unintentionally lost while operating, the ASAM shall maintain a safe
state and, if required by risk assessment, should go to a halted state.
The ASAM shall have sufficient electrical capacity to support the additional loads required by the
autonomy electronics (in addition to general machine requirements) for all intended operating and
environmental conditions (e.g. low idle, night time).
5 Positioning and orientation (POSE)
5.1 General
The positioning and orientation (POSE) systems used by ASAM can include a wide variety of
technologies, including GNSS, pseudolites, theodolites, IMUs, speed sensors, inclinometers, laser
scanners, radar, wireless triangulation and vision systems. Each of these technologies can have unique
characteristics. The requirements will also depend on the application. The positioning and orientation
accuracy or measurement frequency required from such systems also depends on the machine's speed
and location.
5.2 Risk and failure modes
The risks associated with incorrect POSE of the machine include collisions with other machines,
damage to the ASAM or site damage due to erroneous navigation, lack of a situational awareness layer
of protection and the creation of incorrect operational digital terrain models.
The failure modes for POSE systems include
a) inaccurate absolute position for systems that use a global coordinate system,
b) inaccurate relative position for systems that use a local coordinate system,
c) inaccurate orientation,
d) inaccurate registration to the digital terrain model, and
e) non-existent position, orientation or registration.
5.3 Requirements
The POSE systems of the ASAM shall have the means
...