SIST EN ISO 16001:2018

SLOVENSKI STANDARD
01-marec-2018
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Earth-moving machinery - Object detection systems and visibility aids - Performance
requirements and tests (ISO 16001:2017)
Engins de terrassement - Dispositifs de détection d'objets et d'aide visuelle - Exigences
de performances et essais (ISO 16001:2017)
Ta slovenski standard je istoveten z: EN ISO 16001:2017
ICS:
53.100 Stroji za zemeljska dela Earth-moving machinery
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EN ISO 16001
EUROPEAN STANDARD
NORME EUROPÉENNE
December 2017
EUROPÄISCHE NORM
ICS 53.100
English Version
Earth-moving machinery - Object detection systems and
visibility aids - Performance requirements and tests (ISO
16001:2017)
Engins de terrassement - Dispositifs de détection Erdbaumaschinen - Objekterkennungssysteme und
d'objets et d'aide visuelle - Exigences de performances Sichthilfsmittel - Leistungsanforderungen und
et essais (ISO 16001:2017) Prüfverfahren (ISO 16001:2017)
This European Standard was approved by CEN on 23 November 2017.

CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this
European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references
concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN
member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by
translation under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management
Centre has the same status as the official versions.

CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania,
Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland,
Turkey and United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION

EUROPÄISCHES KOMITEE FÜR NORMUNG

CEN-CENELEC Management Centre: Rue de la Science 23, B-1040 Brussels
© 2017 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 16001:2017 E
worldwide for CEN national Members.

Contents Page
European foreword . 3

European foreword
This document (EN ISO 16001:2017) has been prepared by Technical Committee ISO/TC 127 "Earth-
moving machinery" in collaboration with Technical Committee CEN/TC 151 “Construction equipment
and building material machines - Safety” the secretariat of which is held by DIN.
This European Standard shall be given the status of a national standard, either by publication of an
identical text or by endorsement, at the latest by June 2018, and conflicting national standards shall be
withdrawn at the latest by June 2018.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CEN shall not be held responsible for identifying any or all such patent rights.
According to the CEN-CENELEC Internal Regulations, the national standards organizations of the
following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria,
Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia,
France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta,
Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland,
Turkey and the United Kingdom.
Endorsement notice
The text of ISO 16001:2017 has been approved by CEN as EN ISO 16001:2017 without any modification.

INTERNATIONAL ISO
STANDARD 16001
Second edition
2017-11
Earth-moving machinery — Object
detection systems and visibility aids —
Performance requirements and tests
Engins de terrassement — Dispositifs de détection d'objets et d'aide
visuelle — Exigences de performances et essais
Reference number
ISO 16001:2017(E)
©
ISO 2017
ISO 16001:2017(E)
© ISO 2017, Published in Switzerland
All rights reserved. Unless otherwise specified, 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
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. +41 22 749 01 11
Fax +41 22 749 09 47
copyright@iso.org
www.iso.org
ii © ISO 2017 – All rights reserved

ISO 16001:2017(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Performance requirements and tests . 3
4.1 General requirements . 3
4.1.1 Test to determine the detection zone boundary . 3
4.1.2 Test body requirements . 3
4.1.3 Evaluation of test results . 3
4.2 Location and fixing of ODS and VA components . 3
4.3 Operator station components . 4
4.3.1 Location and images of monitor . 4
4.3.2 Warning devices for ODS . 5
4.4 System activation and initial check . 6
4.4.1 System activation on engine start . 6
4.4.2 System activation from stand-by mode . 6
4.5 ODS detection time . 6
4.6 Continuous self-checking . 7
4.7 Warning device disablement for ODS . 7
4.8 Electromagnetic compatibility and physical environment operating conditions . 7
5 Marking and identification . 7
6 Operator's manual . 8
6.1 Operator’s manual. 8
6.2 Other information documents . 8
Annex A (informative) Selection of ODSs and VAs . 9
Annex B (normative) Test procedure for closed-circuit television (CCTV) systems —
Additional performance requirements and tests .17
Annex C (normative) Test procedure for radar sensors .23
Annex D (normative) Test procedure for ultrasonic detection systems.28
Annex E (normative) Test procedure for ultrasonic transponder systems .36
Annex F (normative) Test procedure for electromagnetic (EM) signal transceiver systems .46
Annex G (normative) Particular performance requirements and tests for CCTV system with
surround view .53
Annex H (normative) Particular performance requirements and tests for visual ODS .55
Annex I (normative) Test procedure for vision systems based on morphological recognition .62
Bibliography .74
ISO 16001:2017(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 on 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 the following
URL: www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 127, Earth-moving machinery,
Subcommittee SC 1, Test methods relating to safety and machine performance.
This second edition cancels and replaces the first edition (ISO 16001:2008), which has been technically
revised.
The main change compared to the previous edition is as follows:
— Annex G, Annex H and Annex I have been added to include state-of-the-art technologies.
iv © ISO 2017 – All rights reserved

ISO 16001:2017(E)
Introduction
This document outlines test procedures and sets criteria for the development of object detection
systems (ODSs) and visibility aids (VAs) which indicate to the operator the presence of objects which
are within the detection zone of these systems.
Proper job-site organization, operator training and the application of relevant vision standards
(ISO 5006 and ISO 14401) address the safety of people on job sites. In some cases, vision of the working
area cannot be achieved either by the operator's direct view or indirect view using mirrors. In such
cases, operator awareness can be improved by the use of ODSs and VAs.
ODSs and VAs provide information to the operator as to whether a person or object is in the path of the
machine, primarily during rearward movement.
It is essential to note that ODSs and VAs have both advantages and disadvantages. There is no device
that works perfectly in all situations. It is especially important that the shortcomings of ODSs and VAs
be recognized and known to system users. The advantages and disadvantages of selected devices are
summarized in Annex A.
The use of a haptic signal (signal that stimulates the operator’s sense of touch, vibration, force and
motion) as an alternative to the use of visual and audible signals in ODS warning devices was discussed
during the revision of this document, as haptic warnings are now being used in the automotive industry.
While this document does not currently allow warning devices that only use haptic signals, they can be
incorporated into the warning device to supplement the visual and audible signal. More study is needed
to determine the effectiveness of a haptic signal in various earth-moving machinery applications.
INTERNATIONAL STANDARD ISO 16001:2017(E)
Earth-moving machinery — Object detection systems and
visibility aids — Performance requirements and tests
1 Scope
This document specifies general requirements and describes methods for evaluating and testing
the performance of object detection systems (ODSs) and visibility aids (VAs) used on earth-moving
machines. It covers the following aspects:
— detection or visibility or both of objects including people in the detection zone;
— visual, audible, or both warnings to the operator and if appropriate to the persons in the
detection zone;
— operational reliability of the system;
— compatibility and environmental specifications of the system.
It is applicable to machines as defined in ISO 6165. An ODS, VA or both can be used to augment the
operator’s direct vision (see ISO 5006) or indirect vision using mirrors (see ISO 14401). In addition, an
ODS, VA or both can be used to provide additional means of object detection or view, for example, where
ergonomic considerations limit the effectiveness of direct vision and to avoid repeated turning of the
head and upper body.
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 3411, Earth-moving machinery — Physical dimensions of operators and minimum operator space
envelope
ISO 6394, Earth-moving machinery — Determination of emission sound pressure level at operator's
position — Stationary test conditions
ISO 9533, Earth-moving machinery — Machine-mounted audible travel alarms and forward horns — Test
methods and performance criteria
ISO 13766, Earth-moving machinery — Electromagnetic compatibility
ISO 15998, Earth-moving machinery — Machine-control systems (MCS) using electronic components —
Performance criteria and tests for functional safety
EN 50132-7:1996, Alarm systems — CCTV surveillance systems for use in security applications —
Application guidelines
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at http://www.iso.org/obp
— IEC Electropedia: available at http://www.electropedia.org/
ISO 16001:2017(E)
3.1
object detection system
ODS
system that detects objects, including people, that are in the detection zone (3.3) and warns the operator
Note 1 to entry: The system generally includes a sensing device (3.1.1), warning device (3.1.2) and evaluation
device (3.1.3).
Note 2 to entry: An ODS which operates by detection of a visual image is a visual object detection system.
Note 3 to entry: The system can also warn the person on the ground.
3.1.1
sensing device
ODS (3.1) component that detects a test body (3.4) in the detection zone (3.3)
3.1.2
warning device
ODS (3.1) component that transmits information to the operator or to persons in the detection zone
(3.3) by visual or audible or both signals
3.1.3
evaluation device
ODS (3.1) component or components that analyse the signals and information transmitted from the
sensing device and transform the corresponding signal to the warning device (3.1.2)
3.2
visibility aid
VA
system that provides indirect visibility without a warning device (3.1.2)
Note 1 to entry: The system generally includes one or more monitors (3.2.1) and cameras (3.2.2).
3.2.1
monitor
VA (3.2) component that provides a visual image of the detection zone (3.3) on a screen
3.2.2
camera
VA (3.2) component that transmits to the monitor an image of the detection zone (3.3)
3.3
detection zone
zone within which a test body (3.4) is detected by an ODS (3.1) or is shown by a VA (3.2)
3.4
test body
person or a standard measuring unit representative of a person, used to test the geometry and size of
the detection zone (3.3)
Note 1 to entry: Depending on the system used, test bodies can be varied (see Annexes B to I).
3.5
self-checking
capability of the system to self-check continuously and immediately to inform the operator, audibly,
visually, or both, of a failure
3.6
detection time
time required for an object detection system to detect the test body (3.4) in the detection zone (3.3) and
activate the signal output
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ISO 16001:2017(E)
3.7
stand-by
operation mode whereby the object detection and visibility aid systems are active, but no information
is transmitted by the warning device (3.1.2) or monitor (3.2.1)
3.8
job-site organization
rules and procedures for managing the working together of machines and people at a job site
EXAMPLE Safety instructions, traffic patterns, restricted areas, operator training, machine and vehicle
markings, communications systems.
3.9
warning range
range within the detection zone (3.3) in which a distinctive warning is provided to indicate the range
between the machine and the object being detected
4 Performance requirements and tests
4.1 General requirements
4.1.1 Test to determine the detection zone boundary
The test shall be performed on a system that is either fitted to the machine or to a representative
configuration in accordance with the appropriate annex (see Annexes B to Annex I).
4.1.2 Test body requirements
The test body requirements are specified in Annex B to Annex I.
4.1.3 Evaluation of test results
4.1.3.1 Detection
Detection shall take place unambiguously with an uninterrupted sequence of the signal or information
appropriate to the detection zone. For further details, see Annex B to Annex I.
It is possible to combine ODSs and VAs to cover the necessary detection zone in the case where a single
system cannot cover the zone.
EXAMPLE A surround view system can be combined with another object detection system, whose detection
zone covers the area where the image size achieved by the surround view system is less than required.
4.1.3.2 Evaluation of false signals
False signals, such as the following, should be minimized:
— from objects outside the detection zone;
— from weather conditions of fog, snow, rain, wind, dust, etc.
4.2 Location and fixing of ODS and VA components
Components shall be located and arranged on the machine in accordance with the specification of the
component manufacturer so that
— the component does not restrict any function or operation of the machine,
— the component is protected against external damage,
ISO 16001:2017(E)
— the component is affixed to the machine so as to deter unauthorized disablement or removal,
— the component is mounted so as to limit exposure to, or amplification of, dynamic loads, temperature,
shock or vibration that could prematurely damage the device,
— the attachment and fixings of ODSs and VAs component do not affect the integrity of the protective
structures, e.g. rollover protective structures (ROPS).
4.3 Operator station components
4.3.1 Location and images of monitor
The monitor shall be located such that it is in the 180° arc centred in front of the operator.
The image on the monitor should be displayed in the most intuitively logical way for the application, as
in the following examples.
— The image of a rear view camera is commonly displayed as a mirror image (see Figure 1).
— The image of a front view camera is commonly displayed as a “normal” image.
— The image from a side-mounted camera looking downwards is commonly displayed as “normal”
image.
— The image from a side-mounted camera looking rearwards could be displayed either as a “normal”
or “mirror” image.
— A 360° “surround view” image is commonly displayed as a “normal” image (see Figure 2).
Key
1 top of monitor 3 right side of monitor
2 left side of monitor 4 bottom of monitor
Figure 1 — Example of a mirror image on the monitor covering the area behind the machine
4 © ISO 2017 – All rights reserved

ISO 16001:2017(E)
1   2
Image
Key
1 mock surround view of machine 6 ground in front of machine
2 top of monitor 7 ground to right
3 right side of monitor 8 ground in rear of machine
4 left side of monitor 9 ground to left
5 bottom of monitor
Figure 2 — Example of a normal image on the monitor showing the surround view around
the machine
The monitor should be within 1,2 m of the operator’s eye point. If the monitor location is more than
1,2 m of operator’s eye point, the displayed images shall be proportionally enlarged according to the
monitor. The test requirements shall be according to B.8.2, G.4 and G.5. The monitor shall be positioned
so as to minimize the glare caused by direct sunlight.
NOTE Factors that influence an operator’s ability to detect a person on the monitor are the position of the
monitor within the cab, the distance of the operator from the monitor, the size and resolution of monitor, the
ambient lighting, the lens on the camera and the distance of the object from the lens.
4.3.2 Warning devices for ODS
Both audible and visual warning devices are required for an ODS. These devices shall provide indications
to the operator and may provide indications to workers and other persons present at the work site.
4.3.2.1 Audible devices
Operator station warning devices shall be set at, or shall automatically adjust to, a level at least 3 dB
higher than the ambient noise level as measured at maximum governed speed under no load.
All in-cab warnings should be selected so that they are clearly audible at the operator station. The
warning signal should be in the frequency range 500 Hz to 3 400 Hz.
ISO 16001:2017(E)
In-cab alarms shall be distinguishable from other sounds (for example, warnings or machinery noise)
in the operator's station.
NOTE Distinctiveness of the alarm can be achieved by varying the spectral characteristics and the temporal
distribution of the signals (see ISO 9533).
4.3.2.2 Visual devices
A green system-status light shall inform the operator that the system is powered and functional. The
status light may be continuous or may turn off after the function check is completed.
The warning signals in the cab shall be located such that it is in the 120° arc centred in front of the
operator and shall be bright enough to be viewed under sunlight operating conditions. Appropriate
shielding may be used to reduce the effect of direct sunlight onto the visual display unit.
The warning signals shall be distinguishable from other instrument panel warnings; the most severe
warning shall be a flashing red light.
4.3.2.3 External machine-mounted warning devices
If an external machine-mounted audible warning device is fitted as part of the ODS to alert workers and
other persons at the worksite, then the external alarms shall comply with ISO 9533.
External machine-mounted visual warning devices, when fitted, shall be visible to people in the
detection zone.
4.4 System activation and initial check
4.4.1 System activation on engine start
The system shall activate automatically on engine start or power-on, shall perform an initial system
check, and shall give a proper function indication.
NOTE For a visibility aid, displaying the image from a camera on the monitor fulfils this requirement.
In the case of an ODS malfunction, a warning shall be given to the operator.
4.4.2 System activation from stand-by mode
The system may remain in stand-by mode unless the relevant machine movement mode is selected.
If stand-by mode is provided, the system shall wake up and provide information from the camera or
sensor about the direction of the machine motion when the machine moves.
If multiple cameras or sensors are fitted, the system shall provide the camera view or sensor signal
appropriate to the direction of travel or other machine movement, for example:
— by using multiple monitors or multiple indicators, each of which provides information about its
corresponding camera or sensor;
— by using a single monitor or indicator which sequentially provides information about multiple
cameras or sensors;
— by using a single monitor or indicator which simultaneously provides information about multiple
cameras or sensors.
4.5 ODS detection time
After the introduction of an object to be detected, the ODS detection time shall not exceed 300 ms.
6 © ISO 2017 – All rights reserved

ISO 16001:2017(E)
4.6 Continuous self-checking
The availability of an image of the detection zone on the monitor is sufficient as a monitoring function
for a VA.
An ODS shall have a permanent monitoring function including at least the following:
a) an operating indication light (green);
b) if stand-by mode is provided, a stand-by indication light (flashing amber or flashing green) (see
4.3.2.2);
c) a visual or audible or both failure signal if the operation of the system is impaired, including
monitoring of each link on the ODS, which includes the monitoring of all machine signals used for
system operation, for example:
— wire break,
— short-circuit,
— time management (if applicable),
— signal output and signal input, and
— checking of the system.
4.7 Warning device disablement for ODS
The ODS warning device shall not have a means to allow it to be deactivated by a single action. It may be
deactivated by two or more separate and distinct actions by the operator.
The activation of the warning device shall be so designed and installed that its operation cannot easily
be altered by the operator.
Any exceptions shall be specified in accordance with Annex B to Annex I.
4.8 Electromagnetic compatibility and physical environment operating conditions
The electromagnetic compatibility (EMC) of ODSs and VAs shall comply with ISO 13766.
The physical environmental conditions in which the ODSs and VAs are used shall be according to
ISO 15998.
NOTE ISO 19014-3 can be used as an alternative to ISO 15998.
5 Marking and identification
Each major component (e.g. camera, sensor, monitor and controller) shall bear legibly and indelibly the
following information:
— manufacturer;
— type and model;
— product serial number;
— regulatory markings, as required.
ISO 16001:2017(E)
6 Operator's manual
6.1 Operator’s manual
An operator’s manual complying with ISO 6750 shall be provided. The manual may be integrated into
the appropriate manual for the base machine and shall contain the following, if applicable:
— description of systems function;
— detection area shape and size, and variances according to operational and external factors
(e.g. interference, weather, presence of other systems);
— information for job-site organization as it related to the use of ODSs and VAs, as required;
— weather limitations;
— topography limitations, as required;
— instructions for routine maintenance, including necessary countermeasures against environmental
conditions that could impair the system’s sensitivity or its ability to discriminate objects;
— instructions for activation;
— description of controls;
— instructions concerning safe operation;
— instructions on action in the event of malfunction;
— regulatory certifications (such as RF conformity test certifications required by the regional
regulatory body), if required;
— countries for which type approval has been achieved, if required;
— recommended routine for regular performance checks of the ODSs and VAs by the user, as required;
6.2 Other information documents
For ODSs and VAs systems if separately placed on the market shall have additional instructions covering
the following:
— detailed description of performance and operating limits, in particular, the effect of different
mounting heights and angles;
— instructions for installation and assembly, including mounting location, if required;
— instructions for performance verification;
— information for connection with other components, if required;
— regulatory certifications (such as RF conformity test certifications required by the regional
regulatory body);
— electrical supply requirements, as required.
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ISO 16001:2017(E)
Annex A
(informative)
Selection of ODSs and VAs
A.1 Overview
ODSs and VAs can be used to supplement the direct and indirect vision of the operator. In selecting
an ODS or VA, consideration should be given to the operator’s information needs and to the operator’s
ability to respond to the information provided. The operator experiences many demands for attention.
When selecting, careful consideration should also be given to the form of information, visual or audible,
that is of most use to the operator when an object entering occurs.
It is essential to take into account that ODSs and VAs have both advantages and disadvantages. There
is no device that works perfectly to cover the desired detection zone in all situations. There is always a
risk that visual information passes unnoticed. Audible information can catch the operator’s attention,
but can be ignored if too many unwanted warnings are provided. It is especially important that the
shortcomings of ODSs and VAs be recognized and known to system users. Some of these shortcomings
can be offset by combining two or more technologies. The advantages and disadvantages of some
techniques are summarized in Table A.1.
NOTE The basic technologies are being continuously improved. Therefore, some of the shortcomings could
be addressed by future developments.
A.2 Consideration of the functional aspects of ODSs and VAs
A.2.1 General
The following machine functions, and operational and environmental aspects, of the ODSs and VAs
should be considered.
A.2.2 Operator needs and ability to interface and use the system
These needs are, for example:
— tolerance of false alarm signals;
— signal-to-noise ratio;
— time and frequency of observation for visual systems;
— potential for information overload where multiple ODSs and VAs are used;
— human factors, (e.g. reaction time);
— training and instruction;
— type of warning required by the operator or person in detection zone.
A.2.3 Operating environment
The operating environment can be influenced by, for example:
— open, congested or restricted site;
ISO 16001:2017(E)
— topography of the site;
— site conditions (for example, dust, water, light, contrast);
— weather;
— sources of interference (for example, other machines, stronger reflectors or emitters).
A.2.4 Machine functions
These functions can be, for example:
— object entering zones to be covered;
— analysis of machine movement and application at the job site;
— available mounting positions;
— anticipated speed of movement;
— turning circle;
— articulation effects;
— stopping distance.
A.3 Selection of ODSs and VAs
The system should be selected considering the following characteristics:
— visual or sensor detection;
— active or passive response;
NOTE For example, Annex C, Annex D and Annex F type 1 systems are based on active response; on
the other hand, Annex B and Annex F type 2 systems are based on passive response. There also exists a
combined system such as Annex E, one that is based on passive response triggered by active input.
— visual or audible warning or both;
— response time;
— detection zone;
— operational integrity;
— mounting security;
— overriding, muting and disablement requirements;
— unwanted alarms;
— maintenance, servicing and cleaning requirements;
— performance checking requirements, e.g. periodic detection zone verification;
— ability to distinguish persons (pedestrians) from other obstacles;.
— ability to perform in inclement weather;
— ability to perform in harsh conditions.
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ISO 16001:2017(E)
Table A.1 — Some advantages and disadvantages of ODSs and VAs
Technology Description Advantages Disadvantages Range
Fresnel lens A thin, flat lens Allows the driver to Image can distort near enve- Horizontal: >90°.
using concentric see objects below the lope edges.
Vertical: typically
circular grooves normal driving position
External light can cause lens 2 m.
in its surface. The line of sight.
to be “flooded” with light.
grooves act like
Depends on
prisms to bend and
External light source needed. mounting
focus light.
position.
Interpretation of image and
judging distances can be
difficult.
Mirror A reflective surface Low maintenance and Requires good light Potentially long,
that provides simple to use. conditions. depending upon
indirect vision. optical
Mounting can affect
characteristics.
performance.
Can be prone to mechanical
damage.
Discrimina- An alarm system Activated when Relies on pedestrians in the Varies according
ting external that uses a sensor machine movement path of the machine to take to decibel output,
alarm to trigger an is selected. evasive action. frequency,
audible warning mounting
Warns only when object Can be difficult to determine
signal. position and
is detected. where the direction of sound
environmental
originates.
characteristics.
Potential for confusion if
more than one machine is
operating in close proximity.
Ultrasonic A system that uses Accurate indication of Time delay restricts usage to Horizontal: 6 m
reflecting sound target distance; both slow vehicles; limited to max.
waves to detect LED and audio signals operating at reverse speeds
the presence and to operator. of up to 10 km/h.
measure the
Performance can be affected
distance of
by adverse weather.
an object.
Multiple sensors required to
cover the entire back area of
the machine.
Does not discriminate
between people and other
objects.
Limited mounting height
above ground.
ISO 16001:2017(E)
Table A.1 (continued)
Technology Description Advantages Disadvantages Range
Fixed- A system that uses Low cost. Difficulty sensing stationary Range unlimited
frequency microwave objects; distance can only be (but see under
Reflects well from most
Doppler radiation that is inferred from strength of “Disadvantages”).
objects.
radar emitted and reflected signal. Therefore,
Spans up to 160°
reflected from a at a given sensitivity, the
Ignores any dirt on the
by design.
moving object; system-responds equally to
radar surface and is not
frequency larger objects farther away
affected by snow, wind,
difference from the sensor and to
rain, etc.
indicates motion. smaller objects closer to the
Can be designed to
sensor.
detect speed and
direction of object. Not fail safe. Can sense
objects outside the
vehicle's path.
Does not discriminate
between people and other
objects.
Can only detect moving
objects.
Switched- See description for Can measure range. Range measured is the Range unlimited,
frequency “Fixed frequency weighted average range of but see under “Dis-
Reflects well from most
Doppler Doppler radar”, all targets. Therefore, small advantages”.
objects.
radar except that the targets close to the sensor
Spans up to 160°
transmitted can be masked by larger
Ignores any dirt on the
by design.
frequency is targets farther away from
radar surface and is not
stepped between the sensor.
affected by snow, wind,
two or more
rain, etc.
Not fail safe. Does not
frequencies.
Can be designed to discriminate between
detect speed and people and other objects.
direction of object.
Can sense objects outside
the vehicle's path.
Pulse radar A system that uses Can identify the ranges Can sense objects outside Range can be
reflecting pulses of multiple targets. the vehicle's path. limited.
to detect the
Does not discriminate Spans up to 160°
presence and
between people and other by design.
measure the
objects.
distance of
an object.
Frequency See above, except Can identify the ranges Can sense objects outside Unlimited.
modulated the transmitted of multiple targets. the vehicle's path.
Spans up to 160°
continuous frequency is swept
Can be designed to Does not discriminate by design.
wave from low to high
detect speed and between people and other
(FMCW) and back again.
direction of object. objects.
12 © ISO 2017 – All rights reserved

ISO 16001:2017(E)
Table A.1 (continued)
Technology Description Advantages Disadvantages Range
Closed A device that uses Scratch, dirt and water Distortion makes distances Horizontal: up to
circuit wide-angle lens resistant. hard to judge. 127°.
television cameras with a
Works in low-light Direct light into the camera Vertical: up to
(CCTV) monitor in the cab.
conditions. causes visibility problems. 115°.
Direct sun on monitor blocks
the image.
Objects in shadows are
difficult to distinguish.
Mud and dust on camera
lens can distort the image.
Mud and dust can be
removed by built-in
wash/wipe systems.
Passive A device that Ideally detects the Sensitive to dirt, water and Can be limited in
infrared senses changes difference between a vibration. this application;
(PIR) in infrared (IR) person and the see under
Cannot measure distance.
emissions from background. “Disadvantages”.
objects.
Cannot distinguish a nearby
person from a hot engine
afar.
Active A device that uses
infrared infrared (IR)
(IR) emissions from
objects to detect
Unknown. Unknown. Unknown.
its presence and
measure its
distance from
the machine.
Contact Uses brakes that Simple and relatively Not suitable for all Determined by
are activated after inexpensive. machines. No advance the dimensions
a switch is detection of object or of the device.
triggered by a pedestrian.
pivoted bumper.
Not considered safe for
pedestrian protection.
Suitable only for very low-
speed applications.
Electro- System that uses Mutual warnings to Does not monitor anything Adjustable to 20 m
magnetic electromagnetic both parties. without a tag. in every direction.
(radio signals or radio
Monitors every Radiated power is too weak
frequency) waves to
direction. to pass through the human
signal communicate
body and to cover all the
transponder between a
detection zone.
machine-mounted
transceiver and
Directional, like the
an electronic tag
ultrasonic transponder
worn by workers
(see E.4.1).
or mounted on
Can detect a person outside
other obstacles to
the required detection area
signal close
and requires a judicious
proximity or
choice of the radio
collision.
frequencies.
ISO 16001:2017(E)
Table A.1 (continued)
Technology Description Advantages Disadvantages Range
Laser Software-program- Detection zone can be Can suffer from interference Maximum
mable precisely configured. from direct sunlight. practical range
system that uses of 8 m and scan
Different functions can Heavy steam or plumes of
a pulsed laser and angle of 180°,
be given to different smoke could act as a barrier.
a revolving mirror. beam thickness
zones (e.g. apply
of up to
...