oSIST prEN ISO 18497-2:2022

SLOVENSKI STANDARD
oSIST prEN ISO 18497-2:2022
01-oktober-2022
Kmetijski stroji in traktorji - Varnost delno avtomatiziranih, polavtonomnih in
avtonomnih strojev - 2. del: Načela načrtovanja sistemov za zaščito pred ovirami
(ISO/DIS 18497-2:2022)
Agricultural machinery and tractors - Safety of partially automated, semi-autonomous
and autonomous machinery - Part 2: Design principles for obstacle protection systems
(ISO/DIS 18497-2:2022)
Landmaschinen und Traktoren - Sicherheit von teilautomatisierten, halbautonomen und
autonomen Maschinen - Teil 2: Gestaltungsleitsätze für Hindernisschutzsysteme
(ISO/DIS 18497-2:2022)
Tracteurs et matériels agricoles - Sécurité des machines partiellement automatisées,
semi-autonomes et autonomes - Partie 2: Principes de conception des systèmes de
protection contre les obstacles (ISO/DIS 18497-2:2022)
Ta slovenski standard je istoveten z: prEN ISO 18497-2
ICS:
65.060.01 Kmetijski stroji in oprema na Agricultural machines and
splošno equipment in general
oSIST prEN ISO 18497-2:2022 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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oSIST prEN ISO 18497-2:2022

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oSIST prEN ISO 18497-2:2022
DRAFT INTERNATIONAL STANDARD
ISO/DIS 18497-2
ISO/TC 23/SC 19 Secretariat: DIN
Voting begins on: Voting terminates on:
2022-08-01 2022-10-24
Agricultural machinery and tractors — Safety of
partially automated, semi-autonomous and autonomous
machinery —
Part 2:
Design principles for obstacle protection systems
ICS: 65.060.01
This document is circulated as received from the committee secretariat.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
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ISO/DIS 18497-2:2022(E)
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PROVIDE SUPPORTING DOCUMENTATION. © ISO 2022

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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(E)
DRAFT INTERNATIONAL STANDARD
ISO/DIS 18497-2
ISO/TC 23/SC 19 Secretariat: DIN
Voting begins on: Voting terminates on:

Agricultural machinery and tractors — Safety of
partially automated, semi-autonomous and autonomous
machinery —
Part 2:
Design principles for obstacle protection systems
ICS: 65.060.01
This document is circulated as received from the committee secretariat.
COPYRIGHT PROTECTED DOCUMENT
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
© ISO 2022
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ii
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PROVIDE SUPPORTING DOCUMENTATION. © ISO 2022

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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(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 .3
4.1 General . 3
4.2 Design principles . 4
4.2.1 General . 4
4.2.2 Obstacle detection. 4
4.2.3 Operational limits . 5
4.2.4 Visual indication . 6
4.2.5 Audible indication . 6
4.2.6 Monitoring . 6
4.2.7 Faults and failures . 6
4.3 Labelling and identification . 7
4.4 Information for use . 7
Annex A (informative) Perception system technologies . 9
Annex B (informative) Design recommendations for warning and hazard zones .13
Annex C (informative) Obstacle Detection Performance .14
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .15
Bibliography .20
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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(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, in collaboration with the European
Committee for Standardization (CEN) Technical Committee CEN/TC 144, Tractors and machinery for
agriculture and forestry, in accordance with the Agreement on technical cooperation between ISO and
CEN (Vienna Agreement).
1) 1 1
This first edition of ISO 18497-2, together with ISO 18497-1 , ISO 18497-3 and ISO 18497-4 , cancels
and replaces ISO 18497:2018, which has been technically revised.
The main changes are as follows:
1
— Obstacle protective systems were 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
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 preparation
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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(E)
Introduction
This document is a type-B1 standard as stated in ISO 12100:2010.
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 document 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 bystanders, which is 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 18497-2:2022
ISO/DIS 18497-2:2022(E)
[1]
Therefore the familiar representation of SAE J3016 with six levels of automation was deliberately
not chosen as a basis for this document 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.
When the 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 18497-2:2022
DRAFT INTERNATIONAL STANDARD ISO/DIS 18497-2:2022(E)
Agricultural machinery and tractors — Safety of
partially automated, semi-autonomous and autonomous
machinery —
Part 2:
Design principles for obstacle protection systems
1 Scope
This document specifies principles for the design of obstacle protective systems used in 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.
Applicability of the design principles and any additional detailed 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
ISO 3767-1:2016/Amd 1:2020, Tractors, machinery for agriculture and forestry, powered lawn and garden
equipment — Symbols for operator controls and other displays — Part 1: Common symbols — Amendment
1
1
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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(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 3767-2:2016/Amd 1:2020, 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 — Amendment 1
ISO 4254-1:2013, Agricultural machinery — Safety — Part 1: General requirements
ISO 4254-1:2013/Amd 1:2021, Agricultural machinery — Safety — Part 1: General requirements –
Amendment 1
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 18497-1, Agricultural machinery and tractors — Safety of partially automated, semi-autonomous and
autonomous machinery – Principles for design — Part 1: Machine design principles and vocabulary
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 25119-1:2018/Amd 1:2020, Tractors and machinery for agriculture and forestry — Safety-related
parts of control systems — Part 1: General principles for design and development — Amendment 1
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 25119-3:2018/Amd 1:2020, Tractors and machinery for agriculture and forestry — Safety-related
parts of control systems — Part 3: Series development, hardware and software — Amendment 1
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 25119-4:2018/Amd 1:2020, Tractors and machinery for agriculture and forestry — Safety-related
parts of control systems — Part 4: Production, operation, modification and supporting processes —
Amendment 1
3 Terms and definitions
2)
For the purposes of this document, the terms and definitions given in ISO 18497-1 , ISO 4254-1:2013,
ISO 4254-1:2013/Amd 1:2021 and ISO 12100:2010 apply.
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
2) Under preparation
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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(E)
— IEC Electropedia: available at https:// www .electropedia .org/
4 Safety requirements and protective or risk reduction measures
4.1 General
Partially automated, semi-autonomous and autonomous functions (see Figure 1) of agricultural
machinery and tractors shall comply with the relevant portions (see Note) of machine-specific safety
[2] -[17] [19] and[20]
standards (e.g. ISO 4254 (all relevant parts), ISO 26322 (all relevant parts) ) and take
into consideration the design principles of 4.2 for protective or risk reduction measures when obstacle
protective systems are used as a measure to reduce risks related to obstacle contact as a relevant
significant hazard.
NOTE Portions of relevant machine-specific safety standards might not apply due to the potential unique
characteristics of agricultural machinery and tractors that can have partially automated, semi-autonomous and
autonomous functions. For example, portions of a safety standard that address requirements for a local operator
station will not be applicable to a machine that does not have a local operator station.
Relevant significant hazards are dependent on use case of agricultural machinery and tractors with
partially automated, semi-autonomous and autonomous functions. Therefore, the protective or risk
reduction measures given in this document, including those in 4.2, need to be evaluated (shall be
considered) for applicability and further specified in detail by the use of relevant specific (type-C)
standards, when available, or by the manufacturer of the machine using a risk assessment according to
the principles of ISO 12100:2010.
Applicability of the design principles and any additional detailed requirements for design, verification,
validation or information for use are outside the scope of this document. In addition, partially
automated, semi-autonomous and autonomous functions of machines 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.
2
Figure 1 — Terms used for combinations of functions and modes (see ISO 18497-1 )
Design of machine systems, autonomous operating zones and verification methods of agricultural
machinery and tractors with partially automated, semi-autonomous and autonomous functions shall
3) 3 3
comply with ISO 18497-1 , ISO 18497-3 , and ISO 18497-4 respectively.
Obstacle protective systems have both advantages and disadvantages depending on the type of
technology used. There is no sensing technology that works perfectly in all conditions. It is especially
important that the limitations are recognized and known by both the manufacturer of the machine and
the operator of the machine. It is also possible to combine the use of complementary technologies in
one system to improve the obstacle protective system performance. Examples of sensing technologies
include radar, sonar (ultrasonic) sensors, 2D/3D LIDAR, monocular/binocular/omnidirectional vision
systems, thermal sensors and pressure sensors (not exhaustive). The advantages and disadvantages of
technologies are summarized in Annex A.
3) Under preparation
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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(E)
4.2 Design principles
4.2.1 General
For ensuring an appropriate level of safety of partially automated, semi-autonomous (when automated
machine functions operate in autonomous mode) and autonomous functions of agricultural machinery
and tractors, the following protective or risk reduction measures shall be considered in the obstacle
protective system design when used as a measure to reduce risks related to obstacle contact. Design
recommendations for warning zones and hazard zones in relation to obstacle protective systems are
summarized in Annex B.
4.2.2 Obstacle detection
4.2.2.1 Perception and supervisory systems
The following protective or risk reduction measures shall be considered in the design of obstacle
protective systems that use a perception system, or a supervisory system that uses a perception system
for obstacle detection:
a) Prevention of failures to detect, late detection, misclassification and errors in location of a detected
obstacle
NOTE Due to the variety of perception systems, some of the failures above may not be applicable.
EXAMPLE 1 Reasons for typical failure to detect an obstacle or late detection of an obstacle:
a) obstacles are occluded due to crops, dust, fog, snow, rain or other obscurants;
b) perception results become unreliable due to poor or intense lighting conditions (e.g. direct sunlight,
reflected sunlight, darkness, shadows);
c) uneven ground causes scanning plane to vary, (e.g. the laser beam might hit the ground or point to the
sky when the vehicle is pitching down or up or tilting side to side);
d) vehicle vibration or motion causes misalignment of sensors;
e) obstacles are moving too fast to be detected;
f) obstacles are too small, (e.g. the reliability of the radar technology depends on the effective radar cross-
section of the obstacle to identify it);
g) obstacles do not reflect back in the direction of the receiver, (e.g. laser beam or radar signal sensor does
not detect reflected signal from organic, or transparent; e.g. ultrasonic sensor does not detect acoustic
energy from sound-absorbing obstacles);
h) obstacles reflect or emit too much energy and saturate the sensor;
i) obstacles at the same temperature as the environment are not detected by thermal sensor;
j) obstacle colour is indistinguishable from that of the background (e.g. camouflage);
k) negative obstacles (e.g. holes in the terrain) are not detected;
l) latency may increase due to other applications or computation loading used for the obstacle detection
or classification system;
m) dust or other obscurants on the sensors itself can reduce the sensor field of view;
n) difficult terrain condition (e.g. mud, significant slopes, etc.) or body of water are not detected;
o) sensor is moved out of alignment or sensor is blocked by a part of or parts of a machine (e.g. cover,
shield, tool) either installed correctly or not for operation;
p) sensors interfere each other (e.g. due to artificial lighting for cameras);
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oSIST prEN ISO 18497-2:2022
ISO/DIS 18497-2:2022(E)
q) electromagnetic compatibility interference from internal or external sources;
r) erratic power supply and/or under/over voltage to system components.
EXAMPLE 2 Reasons for typical misclassification of an obstacle:
a) dust, fog, snow, rain or obscurants blur the edges;
b) inadequate model to capture sufficient ground truth conditions (due to training or validation e.g. over-
fitting, under-fitting, data leakage of model or model inability to capture sufficient corner conditions);
c) traversable grass or crops classified as non-traversable obstacle;
d) obstacles are occluded due to crops, dust, fog, snow, rain, or other obscurants.
EXAMPLE 3 Reasons for typical erroneous location of a detected obstacle:
a) sensor misalignment causing inaccurate position estimate;
b) positioning and orientation system errors (e.g. GNSS error) causing inaccurate machine positio
...