oSIST prEN ISO 18497-1:2022
(Main)Agricultural machinery and tractors - Safety of partially automated, semi-autonomous and autonomous machinery - Part 1: Machine design principles and vocabulary (ISO/DIS 18497-1:2022)
Agricultural machinery and tractors - Safety of partially automated, semi-autonomous and autonomous machinery - Part 1: Machine design principles and vocabulary (ISO/DIS 18497-1:2022)
Landwirtschaftliche Maschinen und Traktoren - Sicherheit von teilautomatisierten, halbautonomen und autonomen Maschinen - Teil 1: Konstruktionsprinzipien und Vokabular für Maschinen (ISO/DIS 18497-1:2022)
Dieses Dokument legt Gestaltungsgrundlagen für Landmaschinen und Traktoren, die zu landwirtschaftlichen Anwendungen verwendet werden und die über teilweise automatisierte, teilautonome und autonome Funktionen verfügen, fest. Zudem liefert es einen Leitfaden zu der Art von Informationen, die der Hersteller zu sicheren Arbeitspraktiken (einschließlich Informationen zu Restrisiken) angeben muss.
Zweck dieses Dokuments ist es, bei der Bereitstellung spezifischerer Sicherheitsanforderungen, Mitteln zur Verifizierung und Benutzerinformationen zu helfen, um ein angemessenes Sicherheitsniveau für Landmaschinen und Traktoren mit auf bestimmte Weise verwendeten teilweise automatisierten, teilautonomen und autonomen Funktionen zu liefern.
Dieses Dokument behandelt sämtliche für Landmaschinen und Traktoren mit teilweise automatisierten, teilautonomen und autonomen Funktionen, wenn diese wie vorgesehen und unter den im Normalbetrieb und der Wartung vom Hersteller vorhersehbaren Missbrauchsbedingungen verwendet werden, relevanten signifikanten Gefährdungen, Gefährdungssituationen und -ereignisse.
Dieses Dokument liefert zwar Grundlagen zu Gestaltung, Verifizierung, Validierung und Bereitstellung von Benutzerinformation, die detaillierten Anforderungen hängen jedoch vom jeweiligen Anwendungsfall ab. Daher müssen die in diesem Dokument angegebenen Gestaltungsgrundsätze durch die Verwendung geltender spezifischer (Typ-C-)Normen, sofern verfügbar, oder vom Maschinenhersteller anhand einer Risikobeurteilung erweitert und verdeutlicht werden. Die Anwendbarkeit der Gestaltungsgrundlagen und jeglicher Zusatzanforderungen an die Gestaltung, Verifizierung, Validierung oder Benutzerinformationen liegen außerhalb des Anwendungsbereiches dieses Dokuments.
ANMERKUNG Sicherheitsanforderungen an spezifische nicht automatisierte Funktionen von Landmaschinen und Traktoren können in maschinenspezifischen Typ-C-Normen verfügbar sein.
Dieses Dokument ist nicht anwendbar auf:
— forstwirtschaftliche Anwendungen;
— Tätigkeiten auf öffentlichen Straßen einschließlich geltender Anforderungen an Brems- und Lenkeinrichtungen.
Dieses Dokument gilt nicht für Landmaschinen und Traktoren, die vor dem Veröffentlichungsdatum hergestellt wurden oder für Systeme, die vor dem Veröffentlichungsdatum an Landmaschinen und Traktoren in Betrieb genommen wurden.
Tracteurs et matériels agricoles - Sécurité des machines partiellement automatisées, semi-autonomes et autonomes - Partie 1: Principes de conception des machines et vocabulaire (ISO/DIS 18497-1:2022)
Kmetijski stroji in traktorji - Varnost delno avtomatiziranih, polavtonomnih in avtonomnih strojev - 1. del: Načela strojnega oblikovanja in terminologija (ISO/DIS 18497-1:2022)
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
oSIST prEN ISO 18497-1:2022
01-april-2022
Kmetijski stroji in traktorji - Varnost delno avtomatiziranih, polavtonomnih in
avtonomnih strojev - 1. del: Načela strojnega oblikovanja in terminologija (ISO/DIS
18497-1:2022)
Agricultural machinery and tractors - Safety of partially automated, semi-autonomous
and autonomous machinery - Part 1: Machine design principles and vocabulary (ISO/DIS
18497-1:2022)
Landwirtschaftliche Maschinen und Traktoren - Sicherheit von teilautomatisierten,
halbautonomen und autonomen Maschinen - Teil 1: Konstruktionsprinzipien und
Vokabular für Maschinen (ISO/DIS 18497-1:2022)
Tracteurs et matériels agricoles - Sécurité des machines partiellement automatisées,
semi-autonomes et autonomes - Partie 1: Principes de conception des machines et
vocabulaire (ISO/DIS 18497-1:2022)
Ta slovenski standard je istoveten z: prEN ISO 18497-1
ICS:
01.040.65 Kmetijstvo (Slovarji) Agriculture (Vocabularies)
65.060.01 Kmetijski stroji in oprema na Agricultural machines and
splošno equipment in general
oSIST prEN ISO 18497-1:2022 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN ISO 18497-1:2022
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oSIST prEN ISO 18497-1:2022
DRAFT INTERNATIONAL STANDARD
ISO/DIS 18497-1
ISO/TC 23/SC 19 Secretariat: DIN
Voting begins on: Voting terminates on:
2022-02-14 2022-05-09
Agricultural machinery and tractors — Safety of
partially automated, semi-autonomous and autonomous
machinery —
Part 1:
Machine design principles and vocabulary
ICS: 01.040.65; 65.060.01
IMPORTANT — Please use this updated version dated 2021-12-22,
and discard any previous version of this DIS.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS This document is circulated as received from the committee secretariat.
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
ISO/CEN PARALLEL PROCESSING
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 18497-1:2022(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION. © ISO 2022
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2022
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
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Safety requirements and protective or risk reduction measures .7
4.1 General . 7
4.2 Design principles . 7
4.2.1 Operator Presence . 7
4.2.2 Start-up . 8
4.2.3 States, Modes and Actions . 8
4.2.4 Visual Indication . 9
4.2.5 Audible Indication . 9
4.2.6 Obstacles . . 10
4.2.7 Operating Zone. 11
4.2.8 Monitoring . 11
4.2.9 Faults and Failures . . . 11
4.3 Visual and audible alarms . 12
4.3.1 Visual alarm .12
4.3.2 Audible alarm . 14
4.4 Labelling and Identification . 14
4.5 Information for use . 14
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .16
Bibliography .20
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(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 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 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 23, Tractors and machinery for agriculture
and forestry, Subcommittee SC 19, Agricultural electronics.
This first edition of ISO 18497-1, together with the other parts of the series, cancels and replaces the
first edition (ISO 18497:2018), which has been technically revised.
The main changes compared to the previous edition are as follows:
— Machine design principles and vocabulary were made as its own part (ISO 18497-1) and substantially
revised to account for the wide range of functionality and use cases within agricultural machines
and tractors
1)
— Obstacle protective systems was made its own part (ISO 18497-2 ) and substantially revised to
account for the wide range of functionality and use cases within agricultural machines and tractors
— Autonomous operating zones were defined and was made its own part (ISO 18497-3), accounting
for the wide range of functionality and use cases within agricultural machines and tractors
— Verification and validation methods was made its own part (ISO 18497-4) and substantially revised
to account for the wide range of functionality and use cases within agricultural machines and
tractors
A list of all parts in the ISO 18497 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.
1) Under preparations
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
Introduction
This document is a type-B1 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).
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
In addition, this document is intended for standardization bodies elaborating type-C standards. The
requirements of this document can be supplemented or modified by a type-C standard.
For machines which are covered by the scope of a type-C standard and which have been designed and
built according to the requirements of that standard, the requirements of that type-C standard take
precedence.
The structure of safety standards in the field of machinery is as follows:
— Type-A standards (basis standards) give basic concepts, principles for design, and general aspects
that can be applied to machinery;
— Type-B standards (generic safety standards) deal with one or more safety aspects or one or more
types of safeguards that can be used across a wide range of machinery:
— Type-B1 standards on particular safety aspects (e.g. safety distances, surface temperature,
noise);
— Type-B2 standards on safeguards (e.g. two-hands controls, interlocking devices, pressure
sensitive devices, guards);
— Type-C standards (machinery safety standards) deal with detailed safety requirements for a
particular machine or group of machines.
The purpose of this standard is to establish general design principles for partially automated, semi-
autonomous and autonomous functions of agricultural machinery and tractors.
Manual non-automated functions are addressed in existing agricultural machinery and tractor safety
standards. Due to the potential number of different functions of agricultural machinery and tractors
and the mixed type and mode to which these functions can exist, it is necessary to establish general
design principles to guide the combination, operator location and types of interaction of these functions
so that further type-C safety standards can be developed consistently and explicitly to address the
mitigation of risk of injury to operators and by standards, which the primary focus of safety standards.
Attempting to define risk mitigation requirements based on combinations of type and mode of functions
alone cannot be accomplished accurately for all agricultural machinery and tractors due to the wide
variety of the machinery and variety of functionality.
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
[1]
Therefore the familiar representation of SAE J3016 with six levels of automation was deliberately not
chosen as a basis for this standard and it is necessary to develop more specific type-C safety standards,
using the general design principles of this document, to adequately account for the risks of agricultural
machinery and tractors used in a specified way with various types of partially automated, semi-
autonomous and autonomous functions.
Should requirements of this document for partially automated, semi-autonomous and autonomous
functions of agricultural machinery and tractors be different from those which are stated in a machine-
specific type-C standard dealing with partially automated, semi-autonomous and autonomous
functions of agricultural machinery and tractors, the requirements of the machine-specific standard
take precedence over the requirements of this document.
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oSIST prEN ISO 18497-1:2022
DRAFT INTERNATIONAL STANDARD ISO/DIS 18497-1:2022(E)
Agricultural machinery and tractors — Safety of
partially automated, semi-autonomous and autonomous
machinery —
Part 1:
Machine design principles and vocabulary
1 Scope
This document specifies principles for the design of agricultural machinery and tractors that are used
in agricultural applications and that have partially automated, semi-autonomous and autonomous
functions. Additionally, it provides guidance on the type of information, to be provided by the
manufacturer, on safe working practices (including information about residual risks).
The purpose of this document is to assist in the provision of more specific safety requirements,
means of verification and information for use to ensure an appropriate level of safety for agricultural
machinery and tractors with partially automated, semi-autonomous and autonomous functions used in
a specified way.
This document deals with all the significant hazards, hazardous situations and events, relevant to
agricultural machinery and tractors with partially automated, semi-autonomous and autonomous
functions when used as intended and under the conditions of misuse foreseeable by the manufacturer
during normal operation and service.
While this document gives principles for the design, verification, validation and provision of information
for use, the detailed requirements are dependent on the use case. Therefore, the design principles given
in this document needs to be extended and clarified by the use of relevant specific (type-C) standards,
when available, or by the manufacturer of the machine using a risk assessment. Applicability of the
design principles and any additional requirements, for design, verification, validation or information
for use are outside the scope of this document.
NOTE Safety requirements for specific non-automated functions of agricultural machinery and tractors can
be available in machine-specific type-C standards.
This document is not applicable to:
— forestry applications;
— operations on public roads including relevant requirements for braking and steering systems.
This document is not applicable to agricultural machinery and tractors which are manufactured before
the date of its publication, or to systems applied to agricultural machinery and tractors put into use
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 3767-1:2016, Tractors, machinery for agriculture and forestry, powered lawn and garden equipment —
Symbols for operator controls and other displays — Part 1: Common symbols
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
ISO 3767-2:2016, Tractors, machinery for agriculture and forestry, powered lawn and garden equipment —
Symbols for operator controls and other displays — Part 2: Symbols for agricultural tractors and machinery
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13849-1:2015, Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design
ISO 13849-2:2012, Safety of machinery — Safety-related parts of control systems — Part 2: Validation
ISO 18497-2, Agricultural machinery and tractors — Safety of partially automated, semi-autonomous and
autonomous machinery – Principles for design — Part 2: Design principles for obstacle protective systems
ISO 18497-3, Agricultural machinery and tractors — Safety of partially automated, semi-autonomous and
autonomous machinery – Principles for design — Part 3: Design principles for autonomous operating zones
ISO 18497-4, Agricultural machinery and tractors — Safety of partially automated, semi-autonomous and
autonomous machinery – Principles for design — Part 4: Design principles for verification and validation
methods
ISO 25119-1:2018, Tractors and machinery for agriculture and forestry — Safety-related parts of control
systems — Part 1: General principles for design and development
ISO 25119-2:2019, Tractors and machinery for agriculture and forestry — Safety-related parts of control
systems — Part 2: Concept phase
ISO 25119-3:2018, Tractors and machinery for agriculture and forestry — Safety-related parts of control
systems — Part 3: Series development, hardware and software
ISO 25119-4:2018, Tractors and machinery for agriculture and forestry — Safety-related parts of control
systems — Part 4: Production, operation, modification and supporting processes
ISO 11783-14:2013, Tractors and machinery for agriculture and forestry — Serial control and
communications data network — Part 14: Sequence control
3 Terms and definitions
For the purposes of this document, the terms and definitions given in other related agricultural
[2] [18]
machinery and tractor standards apply (e.g. ISO 4254-1, ISO 12100:2010 and ISO 26322-1 ).
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/
Figure 1 — Terms used for combinations of functions and modes
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
3.1
manual non-automated
non-automated (3.6) only machine functions (3.5) that are intended to operate in manual mode (3.9)
during all of the machine’s operating cycle (3.11)
Note 1 to entry: See Figure 1
EXAMPLE to entry Implement height above ground controlled manually by the operator.
3.2
partially automated
non-automated (3.6) and automated (3.7) machine functions (3.5) that are intended to operate in manual
mode (3.9) during all of the machine’s operating cycle (3.11)
Note 1 to entry: See Figure 1
EXAMPLE to entry Implement height above ground maintained automatically to a set point controlled by
the operator.
3.3
semi-autonomous
automated (3.7) machine functions (3.5) that are intended to operate in autonomous mode (3.10) during
part of the machine’s operating cycle (3.11) in addition to non-automated (3.6) and automated (3.7)
machine functions (3.5) that are intended to operate in manual mode (3.9) to complete some of the tasks
assigned
Note 1 to entry: See Figure 1
EXAMPLE 1 Implement height above ground maintained automatically to a set point controlled by the
operator in specific conditions, and maintained automatically to a set point controlled by machine without
operator interaction during all of the machine’s other operating cycles.
EXAMPLE 2 Automated field cultivating machine completing entire operating cycle of field work without
operator interaction and also used to complete other operating cycles of field work in specific conditions
manually by an operator.
3.4
autonomous
automated (3.7) machine functions (3.5) that operate in autonomous mode (3.10) during all of the
machine’s operating cycle (3.11)
Note 1 to entry: See Figure 1
EXAMPLE 1 Implement height above ground maintained automatically to a set point controlled by the machine
without operator interaction during all of the machine’s operating cycles.
EXAMPLE 2 Automated field cultivating machine completing all operating cycles of work without operator
interaction.
3.5
function
defined activity or behavior of a machine or a machine system
Note 1 to entry: Examples of function are: machine propel, steering, braking, lights, 3-point hitch, hydraulic
driven unit, implement control (ISOBUS CAN, power-take-off, hydraulic), etc.
3.6
non-automated
technique, method, or system of operating and controlling machine function(s) (3.5) by direct means
Note 1 to entry: Direct means are typically accomplished through constant operator interaction (3.12)
3
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oSIST prEN ISO 18497-1:2022
ISO/DIS 18497-1:2022(E)
3.7
automated
technique, method, or system of operating and controlling machine function(s) (3.5) by automatic (3.8)
means
3.8
automatic
process or part of a process when machine functions (3.5) follow defined rules
Note 1 to entry: Complex computer functions (3.5) (e.g. closed loop control, artificial intelligence) can be included
in the machine function (3.5) following defined rules to accomplish a process or part of a process
Note 2 to entry: Automatic (3.8) means are typically accomplished through minimal operator interaction (3.12),
but can be accomplished without operator interaction (3.12)
3.9
manual mode
mode of machine operation in which machine function(s) (3.5) are controlled by an operator
Note 1 to entry: Manual mode definition infers operator interaction (3.12) to accomplish direct or automatic (3.8)
means by which non-automated (3.6) and automated (3.7) machine function(s) (3.5) are controlled
3.10
autonomous mode
mode of machine operation in which a machine performs functions (3.5) related to its defined tasks
without operator interaction (3.12)
Note 1 to entry: States of autonomous mode (3.10) of a machine may require human interaction, for example:
preparing, configuring, setting-up or programming the machine. This type of human interaction shall not be
considered manual mode (3.9) or operator interaction (3.12) as the functions (3.5) of the machine are not involved.
3.11
operating cycle
complete set of tasks carried out within a defined operation
3.12
operator interaction
involvement of an operator to provide information to or control of a machine function(s) (3.5)
Note 1 to entry: Examples of operator interaction are: starting, maintaining or stopping machine function(s)
(3.5); providing exception handling information to a machine, etc.
3.13
hazardous functions
defined activity or behavior of a machine or a machine system which can be a source of harm
Note 1 to entry: Hazardous functions are different than safety functions. A safety function (per ISO 12100)
is defined as: function of a machine whose failure can result in an immediate increase of the risk(s). Risk(s) (per
ISO 12100) is defined as: combination of the probability of occurrence of harm and the severity of that harm.
Hazardous functions are those functions which are potential sources of harm (e.g. machine propel) in normal
operation without failure. Per ISO 12100, risk analysis is required for hazardous functions and risk evaluation to
determine if acceptable risk reduction objectives have been achieved.
3.14
obstacle
object or ground condition which can cause harm, or is harmed, if it comes into contact or collision with
the machinery
Note 1 to entry: Examples of objects which can cause harm: tree, rock, etc. Examples of objects which can be
harmed: living being
Note 2 to entry: Risk assessment is used to analyse the degree of harm related to an obstacle. Machine specific
safety standards may also contain specific protective measures for risk reduction
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ISO/DIS 18497-1:2022(E)
3.15
obstacle protective system
system that reacts to information received from machine components or systems (e.g. bumpers, sensors,
perception systems (3.16), supervisory systems (3.17)) to minimize or avoid obstacle (3.14) contact
Note 1 to entry: Risk assessment is used to determine the appropriate level of risk reduction achieved by an
obstacle protective system. Machine specific type-C safety standards may also contain specific protective
measures for risk reduction. Avoiding all contact with an obstacle may be desired, however there can be machine
forms that allow for contact which does not cause harm or is not harmed by contact with an obstacle
3.16
perception system
system that gathers and processes information about the environment in which the machine is
operating
3.17
supervisory system
system that has situational awareness (3.18) and can take decisions for systems of the machine operation
3.18
situational awareness
the machine’s computational assimilation of how the machine and the environment are interacting and
the context of that interaction from knowledge of the machine state and the environment through the
use of a perception system (3.16)
3.19
warning zone
area where if an obstacle (3.14) is within and no action is taken, then the obstacle (3.14) might enter the
hazard zone (3.20)
3.20
hazard zone
area which is a subset of the warning zone (3.19) and where if an obstacle (3.14) is within that area, then
the potential for injury can exist
3.21
autonomous operating zone
designated area in which machines operate in autonomous mode (3.10)
3.22
active state
machine system state in which partially automated (3.2), semi-autonomous (3.3) or autonomous (3.4)
functions (3.5) are provided
3.23
disabled state
machine system state in which partially automated (3.2), semi-autonomous (3.3) or autonomous (3.4)
functions (3.5) are not allowed
3.24
enabled state
machine system state in which partially automated (3.2), semi-autonomous (3.3) or autonomous (3.4)
functions (3.5) are allowed upon receipt of a valid command or signal
3.25
impaired state
semi-autonomous (3.3) or autonomous (3.4)
point of degradation where partially automated (3.2),
functions (3.5) of the machine systems can no
...
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