ISO/TC 127/SC 2/JWG 28 - Joint ISO/TC 127/SC 2 - ISO/TC 82/SC 8 - ISO/TC 195 WG: Collision awareness and avoidance

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.

This document provides terminology and general guidance on the principles of collision warning and collision avoidance systems for: — earth moving machinery as defined in ISO 6165, — mobile underground mining machinery as defined in ISO 19296, and — road construction machinery as defined in ISO 22242. This document provides general requirements for detection of objects, warnings to the operator, automatic intervention control to avoid collision, and test procedures. It is intended to be used in conjunction with the other parts of the ISO 21815 series, which provide detailed guidance and requirements for collision warning and collision avoidance systems and determining risk areas and risk levels. The specific requirements and definitions for particular types of machines are defined in the use case parts of the ISO 21815 series. This document covers collision avoidance by speed reduction or motion inhibit: it does not cover avoidance by automatic manoeuvring (e.g. steering) away from the intended object. The systems described in this document are only intended to assist the operator of the machine. The responsibility for safe operation of the machine remains with the operator of the machine. This document is not applicable to collision warning and collision avoidance systems installed to the machine before the date of its publication.

This document describes the on-board J1939 communication interface between a connected device and mobile machines for use in earth-moving, mining and road construction applications to enable interventional collision avoidance actions defined in ISO 21815-1 based on the SAE J1939 protocol. This interface is intended for use by a collision avoidance system (CAS) device integrated independently from the original machine providing intervention signals to slow down, stop or prevent motion of the machine. The protocol defined by this document can also be used to provide input information for a collision warning system (CWS). This document is not intended for plug-and-play implementation of CAS or CWS on the machine. Additional details not fully described in this document can be negotiated by the CAS or CWS manufacturer and the machine manufacturer to enable functionality. This document does not preclude the possibility of the machine manufacturer or the CxD manufacturer developing alternative on-board communication interfaces.

This document defines requirements for collision warning (CWS) and collision avoidance systems (CAS) that address other forms of motion than forward/reverse and rotation for: — earth-moving machinery as defined in ISO 6165, — mobile underground mining machinery as defined in ISO 19296, rock drill rigs as defined in ISO 22935-5, and — road construction machinery as defined in ISO 22242. Clauses 5, 6, 7, and 8 do not consider machine height beyond that of height in travel position as established by machine manufacturer. The requirements for forward / reverse motion are stated in ISO 21815-3:2023 and for swing/rotation motion in ISO 21815-4:20XX. This document covers — collision warning and avoidance for articulation movement by speed reduction, stopping, or motion inhibit, Note: Steering the machine whilst in forward/reverse motion is not considered as articulation motion. — collision warning and avoidance for 4-wheel steer motion by speed reduction, stopping, or motion inhibit, — collision warning and avoidance for motion of towed trailers in reverse by speed reduction, stopping, or motion inhibit, — collision warning and avoidance for differential speed, skid turning, counter rotation motion by speed reduction, stopping, or motion inhibit, — collision warning and avoidance for telescopic extension/ retraction motions, and — collision warning and avoidance for vertical motions i.e. height or depth For articulation this document considers • a stationary machine when an articulation command is given • during articulation, where no linear motion takes place (i.e. forward / reverse). This document does not cover avoidance by automatic manoeuvring (e.g. steering) away from the object. 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. This document is not applicable to collision warning and collision avoidance systems installed or manufactured before the date of its publication. Machines that are double articulated are excluded from the scope of this document.