ISO 21815-3:2023

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 2023
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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
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
iii
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
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electrotechnical standardization.
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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
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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
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iv
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 th
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