ISO 21815-3:2023
(Main)Earth-moving machinery — Collision warning and avoidance — Part 3: Risk area and risk level for forward/reverse motion
Earth-moving machinery — Collision warning and avoidance — Part 3: Risk area and risk level for forward/reverse motion
This document defines requirements for collision warning systems (CWS) and collision avoidance systems (CAS) that address forward and reverse motion 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 does not consider machine height beyond that of height in travel position (e.g. dump body on dumper in lowered position) as established by machine manufacturer. This document covers collision avoidance by reducing speed, stopping, or inhibiting motion; it does not cover avoidance by automatic manoeuvring (e.g. steering) away from the intended object. Specific requirements for other types of machine motion are defined in the other parts of the ISO 21815 series. The system described in this document is intended to assist the operator of the machine. The responsibility for safe operation of the machine remains with the machine operator. This document is not applicable to collision warning and collision avoidance systems installed/manufactured before the date of its publication.
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INTERNATIONAL ISO
STANDARD 21815-3
First edition
2023-08
Earth-moving machinery — Collision
warning and avoidance —
Part 3:
Risk area and risk level for forward/
reverse motion
Reference number
ISO 21815-3:2023(E)
© ISO 2023
---------------------- Page: 1 ----------------------
ISO 21815-3:2023(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023
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
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Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
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ISO 21815-3:2023(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Performance requirements . .7
4.1 General requirements . 7
4.2 Calculating CxS distance . 7
4.2.1 Forward/reverse motion . 7
4.2.2 Collision risk area reduction. 7
4.3 Determination of collision risk level . 8
4.4 Collision warning and collision avoidance action . 8
4.5 CxS action and expected machine speed behaviour . 8
4.5.1 General . 8
4.5.2 Requirement of D . 8
0
4.5.3 CxS configuration . 8
4.6 Collision warning system . 9
4.6.1 System functionality . 9
4.6.2 Discontinuation of warning signal and reactivation . . 9
4.6.3 Human interface requirements . 9
4.7 Collision avoidance system . 10
4.7.1 System functionality . 10
4.7.2 Discontinuation of collision avoidance action and reactivation . 10
4.7.3 Intervention indicator . 11
5 Time and distance calculation guidance .11
5.1 General . 11
5.2 CxS detection, determination and communication. 11
5.3 Action time (T ) and action distance (D ) . 11
CD CD
5.4 CWS action time (T ) .12
CD
6 Information for use .12
6.1 General .12
6.2 Operator’s manual .12
Annex A (normative) Determining of collision risk levels — forward/reverse motion .13
Annex B (normative) Limitations of use of CxS .16
Annex C (informative) Example calculation CxS distance for surface vehicles .22
Annex D (informative) Example calculations of CxS distance for underground mining
machine .24
Annex E (informative) Estimating the path .34
Annex F (informative) An approach for determining CxS configuration .38
Annex G (informative) Types of interventional collision avoidance actions . 44
Bibliography .48
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ISO 21815-3:2023(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 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 document 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).
ISO draws attention to the possibility that the implementation of this document may involve the use
of (a) patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed
patent rights in respect thereof. As of the date of publication of this document, ISO had not received
notice of (a) patent(s) which may be required to implement this document. However, implementers are
cautioned that this may not represent the latest information, which may be obtained from the patent
database available at www.iso.org/patents. ISO shall not be held responsible for identifying any or all
such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the 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
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.
A list of all parts in the ISO 21815 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
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ISO 21815-3:2023(E)
Introduction
The increasing use of detection systems and avoidance technology 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. This document addresses collision risk areas and collision risk
levels for machines utilizing detection systems and avoidance technology in the area of earth-moving
machinery that exhibit forward and reverse motion.
This document is a type-C standard as stated in ISO 12100.
This document is of relevance, in particular, for the following stakeholder groups representing the
market players with regard to machinery safety:
— machine manufacturers (small, medium, and large enterprises);
— health and safety bodies (regulators, accident prevention organisations, market surveillance etc.).
Others can be affected by the level of machinery safety achieved with the means of the document by the
above-mentioned stakeholder groups:
— machine users/employers (small, medium, and large enterprises);
— machine users/employees (e.g. trade unions, organizations for people with special needs);
— service providers, e. g. for maintenance (small, medium, and large enterprises);
— consumers (in case of machinery intended for use by consumers);
— providers of collision warning and avoidance technology;
— system integrators.
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
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
type-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.
This document addresses requirements for detecting, alerting and intervention in mitigating collision
risk.
There are currently two existing standards in the field: ISO 16001 and ISO 17757. These standards
provide guidance for visibility aids and object detection system 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 manually operated machinery when there is a risk of
collision.
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INTERNATIONAL STANDARD ISO 21815-3:2023(E)
Earth-moving machinery — Collision warning and
avoidance —
Part 3:
Risk area and risk level for forward/reverse motion
1 Scope
This document defines requirements for collision warning systems (CWS) and collision avoidance
systems (CAS) that address forward and reverse motion 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 does not consider machine height beyond that of height in travel position (e.g. dump
body on dumper in lowered position) as established by machine manufacturer.
This document covers collision avoidance by reducing speed, stopping, or inhibiting motion; it does
not cover avoidance by automatic manoeuvring (e.g. steering) away from the intended object. Specific
requirements for other types of machine motion are defined in the other parts of the ISO 21815 series.
The system described in this document is intended to assist the operator of the machine. The
responsibility for safe operation of the machine remains with the machine operator.
This document is not applicable to collision warning and collision avoidance systems installed/
manufactured before the date of its publication.
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 6750-1, Earth-moving machinery — Operator's manual — Part 1: Contents and format
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 21815-1, Earth-moving machinery — Collision warning and avoidance — Part 1: General requirements
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100, ISO 21815-1, and the
following apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
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ISO 21815-3:2023(E)
3.1
CxS distance
minimum distance for the CxS to complete detection (3.2), determination (3.3), action (3.6, 3.7), and
machine stopping distance (3.15), plus safe distance (3.10)
Key
1 machine
2 CxS distance
A – F see Table 1 and Table 2
Figure 1 — Graphical representation of CxS distance
Table 1 — CxS distance points
a
Point Description
A The point of the initial detection of the intended object by CxD
The point where the intended object is confirmed by the CxS (including debounce time)
B
NOTE For some systems this point cannot be quantified. There are no requirements for this
point.
The point where the CxS completes an assessment of risk level and the course of action is com-
C
municated to the operator (for CWS) or to the machine interface (for CAS)
The point where the operator has been provided sufficient time to react to the warning com-
D municated by the CWS or for the interventional collision avoidance action to be initiated on the
machine (for CAS)
E The point where the machine has fully stopped
F The position of the intended object
a
CWS specific notations are indicated with a single prime (’) and CAS specific are indicated with double prime (”)
throughout the document. No prime indicates CxS.
EXAMPLE A indicates CxS.
A’ specifies a CWS.
A” specifies a CAS.
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ISO 21815-3:2023(E)
Table 2 — CxS intervals
CxS distance CxS time inter-
a
Description
a a
interval val
D T detection (3.2)
AB AB
D T determination (3.3)
BC BC
D T action (3.6, 3.7)
CD CD
D T machine stopping distance (3.15)
DE DE
D T safe distance (3.10)
EF EF
a
CWS specific notations are indicated with single prime (’) and CAS specific indicated with
double prime (”) throughout the document. No prime indicated CxS.
EXAMPLE A-B indicates CxS
A’-B’ specifies a CWS
A”-B” specifies a CAS
Note 1 to entry: See Figure 1 for a graphical representation.
Note 2 to entry: The motion can be either forward or reverse (measured in meters).
Note 3 to entry: The values for D are typically larger for CWS than a CAS due to the slower action time of the
CD
operator.
Note 4 to entry: The first observable output of the CxS can be point C due to difficulty in measuring points A or B
without specialized equipment.
Note 5 to entry: Table 1 are points within the CxS distance.
Note 6 to entry: Table 2 are the intervals with the CxS distance.
Note 7 to entry: For a CWS, can be referred to as collision warning distance.
Note 8 to entry: For a CAS, can be referred to as collision avoidance distance.
Note 9 to entry: D is the period where the sensor algorithm is determining if the intended object is present.
AB
This interval can be important for the designer of the CxS but could be difficult for the system integrator to
measure or interpret.
3.2
detection
acknowledgement of intended object
[SOURCE: ISO 21815-1:2022, 3.11, modified — The phrase "by a CxS" was removed from the end of the
definition.]
3.3
determination
analysis of collision risk level of the intended object(s) by CxS
Note 1 to entry: Determination also includes the transmission of warning/interventional collision avoidance
action as appropriate for the collision risk level.
3.4
decision
acceptance of warning and selection of action by operator
Note 1 to entry: See Figure 5.
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ISO 21815-3:2023(E)
3.5
decision
acceptance of recommended interventional collision avoidance action by machine control
system
Note 1 to entry: Acceptance does not imply providing feedback to the CxS.
Note 2 to entry: See Figure 5.
3.6
action
performance of the evasive action by operator
3.7
action
performance of the interventional collision avoidance action by machine
3.8
safe offset distance
D
O
distance value that is determined by the authorized person to provide additional clearance around
intended object
3.9
error distance
D
I
error value in the system in measuring the distance D
AE
3.10
safe distance
D
EF
distance comprising the safe offset distance (3.8) plus the possible error in the CxS measurements
position variance
Note 1 to entry: Figure 2 illustrates safe distance.
Key
1 D (3.8)
O
2 D (3.9)
I
3 D (3.9) × 2
I
Figure 2 — Safe distance
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ISO 21815-3:2023(E)
3.11
possible path
space that the machine could occupy based on machine state, potential paths of motion, and machine
stopping distance
Note 1 to entry: Machine state includes velocity, current direction, etc.
Note 2 to entry: See Annex E for more information.
3.12
projected path
space that the machine movement will occupy if there is no change in machine motion inputs and
limited by machine stopping distance
Note 1 to entry: See Annex E for more information.
3.13
probable path
space where the machine is permitted to move based on site operation rules and limited by machine
stopping distance
Note 1 to entry: Multiple probable paths can have estimates of future likelihood.
Note 2 to entry: See Annex E for more information.
Note 3 to entry: It is assumed that the machine is under control of the operator.
3.14
expected path
space where the machine is anticipated and permitted to move based on the site operation rules and
machine operating context (e.g. lanes, loaded) and limited by machine stopping distance
Note 1 to entry: There is only one expected path.
Note 2 to entry: See Annex E for more information.
Note 3 to entry: It is assumed that the machine is under control of the operator.
3.15
machine stopping distance
D
DE
distance travelled by the machine from the point which the machine brake control actuation begins
(e.g. operator actuates the brakes for CWS or when intervention action commences for CAS) to the point
where the machine is fully stopped
Note 1 to entry: It is expressed in meters [m].
Note 2 to entry: Machine braking delay is included in the calculation or measurement of stopping distance.
Note 3 to entry: Operator action time is excluded from the calculation or measurement of stopping distance.
3.16
detection zone
space where intended objects are expected to be detected by the CxS with a specified reliability
Note 1 to entry: CxS device technology or detection methods impact the bounds of the space.
Note 2 to entry: Examples of typical detection zones shown in Figure 3.
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ISO 21815-3:2023(E)
Key
1 trapezoidal example
2 semi-circular example
3 complete circular example
Figure 3 — Examples of detection zones
3.17
intervention indicator
signal that the automatic interventional collision avoidance action is engaged
3.18
bi-directional traffic
traffic that flows in opposite directions on established travel routes
Note 1 to entry: Often described as right-hand traffic or left-hand traffic.
Note 2 to entry: Right-hand traffic keeps to the right of established travel routes. Opposing traffic passes along
the left side.
Note 3 to entry: Left-hand traffic keeps to the left of established travel routes. Opposing traffic passes along the
right side.
3.19
alarm fatigue
state when a person is overloaded with excessive number of notifications and starts to ignore these
notifications including potentially important ones
3.20
debounce time
period where the sensor algorithm is determining if the intended object is present
Note 1 to entry: This time could be inapplicable for certain types of systems.
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ISO 21815-3:2023(E)
3.21
collision risk level
CRL
value that is assigned to each intended object to determine if a collision is foreseeable based on the
current motion of the machine and the intended object
Note 1 to entry: See A.1.4 for additional information on collision risk levels.
Note 2 to entry: Adapted from ISO 21815-1:2022, 3.6.
4 Performance requirements
4.1 General requirements
Machinery shall conform with the safety requirements and/or protective/risk reduction measures of
this clause. In addition, the machine shall be designed according to the principles of ISO 12100:2010 for
relevant but not significant hazards which are not dealt with by this document.
CxS shall comply with the requirements of ISO 21815-1, in as far as those are not modified or added to
by the requirements in this document.
The CxS shall determine a collision risk level of each intended object and communicate the appropriate
action.
NOTE For multiple intended objects, see B.8.
The detection zone of CxD should be the same or larger than the collision risk area. However, due to
limits of the system, the detection zone may be smaller than the collision risk area. In that case, the
limits of the system shall be defined in the operator’s manual as a system limitation.
Annex B shall be used to provide information on the limitations of use of the CxS.
4.2 Calculating CxS distance
4.2.1 Forward/reverse motion
The CxS distance shall be long enough to allow a machine to stop to avoid a collision with an intended
object where earth-moving machinery (EMM) movement can occur.
NOTE 1 Examples of calculating CxS distances are provided in Annex C (surface machines) and Annex D
(underground machines).
NOTE 2 An example of an approach to determining CxD configuration parameters based on stopping
performance is provided in Annex F.
4.2.2 Collision risk area reduction
The collision risk area is determined by the limitations of physical kinematics (e.g. speed, turning
radius, angle, dimensions) of the machine. The size of the collision risk area may be reduced by knowing
the real-time value of kinematics (e.g. speed, turning angle).
Physical or virtual barriers can reduce the collision risk area, if the CxS is capable of considering them.
A CxS which has the ability to utilize information regarding projected path and expected path and their
interactions may be able to reduce the size of the collision risk area.
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ISO 21815-3:2023(E)
4.3 Determination of collision risk level
The CxS shall determine a collision risk level upon detection of each intended object within the detection
zone or collision risk area. The collision risk level is based on analysis of the current motion of machine
and possibility of a collision. For forward and reverse travel, Annex A shall be used to determine the
collision risk level.
NOTE 1 For other types of machine movement other parts of the ISO 21815 series can be used.
NOTE 2 For multiple intended objects, see B.8.
4.4 Collision warning and collision avoidance action
The CxS actions shall only occur for intended objects in the collision risk area.
NOTE There are several challenges (see Annex B) that can result in false positive detections (detecting
objects that do not have a high risk of collision) or false negative detections – missing real risks. False positives
could create alarm fatigue and result in operators ignoring real collision risks.
4.5 CxS action and expected machine speed behaviour
4.5.1 General
Figure 4 shows CxS device output in relation to distance travelled.
Key
v machine speed
P point (see Table 1)
a
CxS action.
Figure 4 — Expected machine speed
4.5.2 Requirement of D
0
The CxS may allow the means for the value to change in accordance with the worksite situation and
environment. This should be done by an authorized person.
4.5.3 CxS configuration
The CxS manufacturer shall communicate the typical delays in their system. If the CxS allows for
configurable parameters, the CxS manufacturer shall communicate the default values and how a system
integrator can change the default values.
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ISO 21815-3:2023(E)
If the system integrator changes the default values, the system integrator shall communicate the
configuration and assumptions. The following values shall be communicated:
— velocity,
— slope,
— T ,
AC
— T ,
CD
— and D .
DE
Table 3 is an example of the information.
Table 3 — Example of configuration and assumptions
Velocity Slope T T D
AC CD DE
[kph] [%] [s] [s] [m]
40 -10 0,300 2,5 130
10 -10 0,300 2,5 30
Ground conditions – dry and hard packed
Model of machine – truck model 123
Model of CxS – CwS model
CWS
CAS ESB SDB
NOTE For additional information, see Annex F, G.2 (ESB) and G.3 (CSB).
4.6 Collision warning system
4.6.1 System functionality
CWS shall provide warning(s) to assist operator in avoiding collision. The warning from the CWS shall
be initiated if the collision risk level with the intended object is at least equal to the threshold value of
collision risk level 3.
4.6.2 Discontinuation of warning signal and reactivation
Warning signals shall discontinue when the collision risk level of intended object has been reduced
below CRL-3. After the collision risk level of the intended object has become lower than CRL-3 but
returns to CRL-3 and above the threshold again, a warning signal shall be applied.
4.6.3 Human interface requirements
4.6.3.1 General
All visual, audible and haptic warnings shall be perceptible by the operator.
For devices that provide CWS functions, the operator action time shall be used in determining the
collision warning distance (see 5.3 and 5.4 for additional details).
A CWS shall provide warnings to the operator and may provide warnings to worke
...
DRAFT INTERNATIONAL STANDARD
ISO/DIS 21815-3
ISO/TC 127/SC 2 Secretariat: ANSI
Voting begins on: Voting terminates on:
2022-07-14 2022-10-06
Earth-moving machinery — Collision warning and
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Part 3:
Risk area and risk level — Forward/reverse motion
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ISO/DIS 21815-3:2022(E)
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avoidance —
Part 3:
Risk area and risk level — Forward/reverse motion
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ISO/DIS 21815-3:2022(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
3.1 Terms and definitions . 1
4 Performance requirements . .7
4.1 General requirements . 7
4.2 Calculating CxS distance . 7
4.2.1 Forward/reverse motion . 7
4.2.2 Collision risk area reduction. 7
4.3 Collision risk level . 7
4.4 Collision warning and collision avoidance action . 7
4.5 CxS action and expected machine speed behaviour . 8
4.5.1 General . 8
4.5.2 Requirement of D . 8
0
4.5.3 CxS Configuration . 8
4.6 Collision Warning System . 9
4.6.1 System functionality . 9
4.6.2 Preliminary collision warning (optional) . 9
4.6.3 Discontinuation of warning signal and reactivation . . 9
4.6.4 Human interface requirements . 9
4.7 Collision avoidance system . 10
4.7.1 System functionality . 10
4.7.2 Discontinuation of collision avoidance action and reactivation . 10
4.7.3 Intervention Indicator . 11
5 Time and distance calculation guidance .11
5.1 General . 11
5.2 CxS detection, determination and communication. 11
5.3 Action time (T ) and Action Distance (D ) .12
CD CD
5.4 Action Time (T ) .12
CD
6 Information for use .12
6.1 General .12
6.2 Operator’s Manual .12
Annex A (Normative) Determining of collision risk levels .13
Annex B (Normative) Limitations of use of CxS .17
Annex C (Informative) Example calculation CxS distance for surface vehicles .24
Annex D (Informative) Example calculations of CxS distance for underground mining
machine .26
Annex E (Informative) Estimating the path .31
Annex F (Informative) An approach for determining CxS Configuration .36
Annex G (Informative) Types of interventional collision avoidance actions .42
Bibliography .46
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ISO/DIS 21815-3:2022(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
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as well as information about ISO's adherence to the World Trade Organization (WTO) principles in the
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The committee responsible for this document is Technical Committee ISO/TC 127, Earth-moving
machinery, Subcommittee SC 2, Safety, ergonomics and general requirements.
A list of all parts in the ISO 21815 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html
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ISO/DIS 21815-3:2022(E)
Introduction
The increasing use of detection systems and avoidance technology 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. This document addresses collision risk areas and collision risk
levels for machines utilizing detection systems and avoidance technology in the area of earth-moving
machinery that exhibit forward and reverse motion.
This document is a type-C standard as stated in ISO 12100.
This document is of relevance, in particular, for the following stakeholder groups representing the
market players with regard to machinery safety:
— machine manufacturers (small, medium, and large enterprises);
— health and safety bodies (regulators, accident prevention organisations, market surveillance etc.).
Others can be affected by the level of machinery safety achieved with the means of the document by the
above-mentioned stakeholder groups:
— machine users/employers (small, medium, and large enterprises);
— machine users/employees (e.g. trade unions, organizations for people with special needs);
— service providers, e. g. for maintenance (small, medium, and large enterprises);
— providers of collision warning and avoidance technology;
— system integrators.
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
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
type-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.
This standard addresses requirements for detecting, alerting and intervention in mitigating 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 system 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 manually operated machinery when there is a risk of collision.
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DRAFT INTERNATIONAL STANDARD ISO/DIS 21815-3:2022(E)
Earth-moving machinery — Collision warning and
avoidance —
Part 3:
Risk area and risk level — Forward/reverse motion
1 Scope
This document defines requirements for collision warning and collision avoidance systems that address
forward and reverse motion 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 does not consider machine height beyond that of height in travel position (e.g. dump
body on dumper in lowered position) as established by machine manufacturer.
Specific requirements for particular types of machines and use cases are defined in the other parts of
this standard series.
This document covers collision avoidance by reducing speed, stopping, or inhibiting motion; it does not
cover avoidance by automatic manoeuvring (e.g. steering) away from the intended object.
This document is not applicable to collision warning and collision avoidance systems installed installed/
manufactured before the date of its publication.
The system described in this standard is intended to assist the operator of the machine. The
responsibility for safe operation of the machine remains with the machine operator.
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 21815-1, Earth-moving machinery — Collision warning and avoidance — Part 1: General requirements
ISO 3450, Earth-moving machinery — Wheeled or high-speed rubber-tracked machines — Performance
requirements and test procedures for brake systems
ISO 19296, Mining — Mobile machines working underground — Machine safety
3 Terms and definitions
3.1 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100:2010, ISO 21815-1:2021,
and the following apply.
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ISO/DIS 21815-3:2022(E)
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1.1
CxS distance
minimum distance for the system to complete detection (3.1.2), determination (3.1.3), action (3.1.5), and
machine stopping distance (3.1.15), plus safe distance (3.1.9)
Key
1 EMM
2 CxS distance
A - F See Table 1 and Table 2
Figure 1 — Graphical representation of CxS distance
Table 1 — CxS distance points
a
Point Description
A The point of the initial detection of the intended object by CxD
The point where the intended object confirmed by CxS (including debounce time)
B
Note: For some systems this Point can not be quantified. There are no requirements for this
point.
The point where the CxS completes an assessment of risk level and the course of action is com-
C
municate to the operator (for CWS) or to the machine interface (for CAS)
The point where the operator has been provided sufficient time to react to the warning com-
D municated by the CWS or for the interventional collision avoidance action to be initiated on the
machine (for CAS)
E The point where the machine has fully stopped
F The position of the intended object
a
CWS specific indicated with ’ and CAS specific indicated with ” throughout the document. No prime indicated CxS.
Examples: A indicates CxS
A’ specifies a CWS
A” specifies a CAS
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ISO/DIS 21815-3:2022(E)
Table 2 — CxS intervals
CxS Distance CxS Time Inter-
a
Description
a a
Interval val
D T detection (3.1.2)
AB AB
D T determination (3.1.3)
BC BC
D T action (3.1.5)
CD CD
D T stopping distance (3.1.15)
DE DE
D T safe distance (3.1.8)
EF EF
a
CWS specific indicated with ’ and CAS specific indicated with ” throughout the document. No
prime indicated CxS.
Examples: A-B indicates CxS
A’-B’ specifies a CWS
A”-B” specifies a CAS
Note 1 to entry: See Figure 1 for graphical representation.
Note 2 to entry: The motion can be either forward or reverse (measured in meters).
Note 3 to entry: The values for D are typically larger for CWS than a CAS due to the slower action time of the
CD
operator.
Note 4 to entry: The first observable output of the CxS can be point C due to difficulty in measuring points A or B
without specialized equipment.
Note 5 to entry: Table 1 are points within the CxS distance
Note 6 to entry: Table 2 are the intervals with the CxS distance
Note 7 to entry: For a CWS, can be referred to as collision warning distance
Note 8 to entry: For a CAS, can be referred to as collision avoidance distance
Note 9 to entry: DAB is the period where the sensor algorithm is determining if the intended object is present.
This interval can be important for the designer of the CxS but could be difficult for the system integrator to
measure or interpret.
3.1.2
detection
acknowledgement of intended object
[SOURCE: ISO 21815-1 3.11]
3.1.3
determination
analysis of collision risk level of the intended object(s) by CxS
Note 1 to entry: Determination also includes the transmission of warning/interventional collision avoidance
action as appropriate for the collision risk level.
3.1.4.1
decision
acknowledgement of warning and selection of action by operator
3.1.4.2
decision
acceptance of recommended interventional collision avoidance action by machine control
system
Note 1 to entry: acknowledgement does not imply providing feedback to the CxD
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ISO/DIS 21815-3:2022(E)
3.1.5
action
performance of the control by operator
3.1.6
action
performance of the interventional collision avoidance action by machine
3.1.7
safe offset distance
D
O
distance value that is determined by the authorized person to provide additional clearance around
intended object
3.1.8
error distance
D
I
error value in the system in measuring the distance D
AE
3.1.9
safe distance
D
EF
distance (Figure 2) comprising the safe offset distance plus the possible error in the CxS measurements
position variance
Note 1 to entry: Figure 2 illustrates safe distance
Key
1 D (3.1.7)
O
2 D (3.1.8)
I
3 D (3.1.8) x 2
I
Figure 2 — Safe Distance
3.1.10
possible paths
all space that the machine could occupy based on machine state, potential paths of motion, and machine
stopping distance
Note 1 to entry: machine state includes velocity, current direction, etc…
Note 2 to entry: See Annex E for more information
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ISO/DIS 21815-3:2022(E)
3.1.11
projected path
space that the machine movement will occupy if there is no change in machine motion inputs and
limited by machine stopping distance
Note 1 to entry: See Annex E for more information
3.1.12
probable paths
space where the machine is permitted to move based on site operation rules
Note 1 to entry: multiple future paths can have an estimate of likelihood
Note 2 to entry: See Annex E for more information
Note 3 to entry: Assumes that the machine is under control of the operator
3.1.13
expected path
space where the machine is anticipated and permitted to move based on the site operation rules and
machine operating context (eg. lanes, loaded) and limited by machine stopping distance
Note 1 to entry: There is only one expected path.
Note 2 to entry: See Annex E for more information
Note 3 to entry: Assumes that the machine is under control of the operator
3.1.14
machine stopping distance
D
DE
distance travelled by the machine from the point which the machine brake control actuation begins
(e.g. operator actuates the brakes for CWS or when intervention action commences for CAS) to the point
where the machine is fully stopped.
Note 1 to entry: It is expressed in meters (m)
Note 2 to entry: Machine braking delay is included in the calculation or measurement of stopping distance
Note 3 to entry: Operator action time is excluded from the calculation or measurement of stopping distance
3.1.15
detection zone
space where the CxS is intending to detect objects with a specified reliability
Note 1 to entry: CxS device technology or detection methods impact the bounds of the space.
Note 2 to entry: Examples of typical detection zones shown in Figure 3
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ISO/DIS 21815-3:2022(E)
Figure 3 — Example of detection zones
3.1.16
preliminary collision warning
warning which informs the operator of the presence of a potential collision hazard in order for the
operator to prepare to take the necessary action to avoid a potential collision
3.1.17
intervention indicator
indicator which provides a signal that automatic interventional collision avoidance action engaged
3.1.18
bi-directional traffic
traffic that flows in opposite directions on established travel routes
Note 1 to entry: Often described as right hand traffic or left hand traffic.
Note 2 to entry: Right hand traffic keeps to the right of established travel routes. Opposing traffic passes along
the left side.
Note 3 to entry: Left hand traffic keeps to the left of established travel routes. Opposing traffic passes along the
right side.
3.1.19
alarm fatigue
when a person is overloaded with excessive number of notifications starts to ignore these notifications
including potentially important ones
3.1.20
debounce time
period where the sensor algorithm is determining if the intended object is present
Note 1 to entry: this time could not be applicable for certain types of systems
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ISO/DIS 21815-3:2022(E)
4 Performance requirements
4.1 General requirements
Machinery shall comply with the safety requirements and/or protective/risk reduction measures of
this clause. In addition, the machine shall be designed according to the principles of ISO 12100:2010 for
relevant but not significant hazards which are not dealt with by this document.
The CxS shall determine a collision risk level of the intended object and communicate the appropriate
action.
The detection zone of CxS should be the same or larger than the collision risk area. However, due to
limits of the system, the detection zone can be smaller than the collision risk area. In that case, the
limits of the system shall be defined in the operator’s manual as a system limitation.
The limitations of use of CxS are provided in Annex B.
4.2 Calculating CxS distance
4.2.1 Forward/reverse motion
The CxS distance shall be large enough to allow a machine to stop to avoid a collision with an intended
object where movement can occur.
NOTE 1 Examples of calculating CxS distances are provided in Annex C (surface machines) and Annex D
(underground machines).
NOTE 2 An example of an approach to determining CxD configuration parameters based on stopping
performance is provided in Annex F.
4.2.2 Collision risk area reduction
The collision risk area is determined by the physical kinematics (e.g. speed, turning radius, angle,
dimensions) limitations of the machine. The size of the collision risk area can be reduced by knowing
the real-time value of kinematics (e.g. speed, turning angle).
Physical or virtual barriers can reduce the collision risk area, if the CxS is capable of considering them.
The CxS which has the ability to utilize information regarding projected path and expected path and
their interactions may be able to reduce the size of the collision risk area.
4.3 Collision risk level
The CxS shall determine a collision risk level (CRL) upon detection of each intended object within the
detection zone or collision risk area. The collision risk level is based on analysis of the current motion
of machine and possibility of a collision. For forward & reverse travel, see Annex A to determine the
collision risk level.
NOTE 1 For other types of machine movement other parts of this standard series can be used.
NOTE 2 For multiple intended objects, see Annex B.8
4.4 Collision warning and collision avoidance action
The CxS actions shall only occur for intended objects in the collision risk area.
NOTE There are several challenges (see Annex D) that can result in false positive detections (detecting
objects that do not have a high risk of collision) or false negative detections – missing real risks. False positives
could create alarm fatigue and result in operators ignoring real collision risks.
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ISO/DIS 21815-3:2022(E)
4.5 CxS action and expected machine speed behaviour
4.5.1 General
Figure 4 shows CxS device output in relation to distance travelled.
Key
V machine speed
P point
1 CxS action
Figure 4 — Expected machine speed
4.5.2 Requirement of D
0
The CxS may allow the means for the value to change in accordance with the worksite situation and
environment. This should be done by an authorized person.
4.5.3 CxS Configuration
The CxS manufacturer shall communicate the typical delays in their system. If the CxS allows for
configurable parameters, the CxS
...
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