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Earth-moving machinery - Collision warning and avoidance - Part 1: General requirements
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Basic data | Standard ID | GB/T 45864.1-2025 (GB/T45864.1-2025) | | Description (Translated English) | Earth-moving machinery - Collision warning and avoidance - Part 1: General requirements | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | P97 | | Classification of International Standard | 53.100 | | Word Count Estimation | 22,298 | | Date of Issue | 2025-08-01 | | Date of Implementation | 2026-02-01 | | Issuing agency(ies) | State Administration for Market Regulation, Standardization Administration of China | GB/T 45864.1-2025: Earth-moving machinery - Collision warning and avoidance - Part 1: General requirements
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ICS 53.100
CCSP97
National Standard of the People's Republic of China
Earthmoving machinery collision warning and avoidance
Part 1.General requirements
Part 1.General requirements
Released on August 1, 2025
Implementation on February 1, 2026
State Administration for Market Regulation
The National Standardization Administration issued
Table of Contents
Preface III
Introduction IV
1 Scope 1
2 Normative references 1
3 Terms and Definitions 2
4 Performance Requirements 4
4.1 General requirements 4
4.1.1 General Principles 4
4.1.2 Electromagnetic Compatibility (EMC)
4.1.3 Environmental requirements 4
4.1.4 Functional Safety 4
4.1.5 Risk Assessment 4
4.1.6 Machine modification analysis 4
4.2 CxS Requirements 5
4.2.1 General Principles 5
4.2.2 Object Detection 5
4.2.3 Collision risk level and CxS measures 5
4.2.4 System Limitations 5
4.3 CxS Process Overview 5
4.4 Incorrect CxS measures 6
4.5 CxS Operational State Transition 6
4.5.1 Overview 6
4.5.2 Switching between normal mode and standby mode 6
4.5.3 Switching between Normal Mode and Override Mode 6
4.5.4 Status Information 7
4.6 Self-test, status indication and fault warning 7
4.7 Preventing unauthorized modification of system functions 7
5 System Classification 7
5.1 General requirements 7
5.2 System Capability Type 8
5.2.1 Start Inhibit CxS (TIC) 8
5.2.2 Slew Inhibition CxS (SIC) 8
5.2.3 Control speed CxS (MSC) 8
5.2.4 Travel speed CxS (TSC) 8
5.3 System Type 8
5.4 Detection Type 8
5.5 System Description 8
6 Test Steps 9
6.1 General requirements 9
6.2 Test conditions 9
6.2.1 Test environment conditions 9
6.2.2 Test ground conditions 9
6.3 Test machine conditions 9
6.4 Specifications of the test object 9
6.5 Performance test 9
6.5.1 General requirements 9
6.5.2 Test piece installation 9
6.5.3 Tested Machine 10
6.5.4 Test result judgment criteria 10
6.6 True or False CxS Action Test 10
7 CxS information for use 10
7.1 Operator Information 10
7.2 Information on residual risks 10
Appendix A (Informative) Common Examples of Machine Interaction Scenarios 11
A.1 General requirements 11
A.2 Machine Interaction Scenario Definition 11
A.2.1 Startup 11
A.2.2 Forward/Backward 11
A.2.3 Rotation 12
Appendix B (Informative) System Function Comparison 13
Appendix C (Informative) Driver's Manual Example 14
Reference 16
Figure 1 Example of a high-level flowchart of CWS and CAS 6
Figure 2 CxS conversion diagram example 7
Figure A.1 Single-machine interactive scenario example—startup 11
Figure A.2 Machine interaction scenario - forward/backward example 11
Figure A.3 Machine interaction scenario example - rotation 12
Figure C.1 Detection area and dimensions 14
Table B.1 Comparison of VA, ODS, CWS and CAS 13
Table C.1 Example of driver's manual content14
Preface
This document is in accordance with the provisions of GB/T 1.1-2020 "Guidelines for standardization work Part 1.Structure and drafting rules for standardization documents"
Drafting.
This document is Part 1 of GB/T 45864 Collision warning and avoidance for earth-moving machinery. GB/T 45864 has been published for the following
part.
--- Part 1.General requirements;
--- Part 2.Vehicle J1939 communication interface;
--- Part 3.Forward/backward risk areas and risk levels.
This document is equivalent to ISO 21815-1.2022 "Earth-moving machinery — Collision warning and avoidance — Part 1.General requirements".
Please note that some of the contents of this document may involve patents. The issuing organization of this document does not assume the responsibility for identifying patents.
This document was proposed by the China Machinery Industry Federation.
This document is under the jurisdiction of the National Technical Committee for Standardization of Earthmoving Machinery (SAC/TC334).
This document was drafted by. Sany Heavy Machinery Co., Ltd., Inner Mongolia North Heavy Truck Co., Ltd., Lingong Heavy Machinery Co., Ltd.,
Xiamen XGMA Machinery Co., Ltd., Shanxi Taizhong Intelligent Mining Equipment Technology Co., Ltd., Tianjin Engineering Machinery Research Institute Co., Ltd.,
Shandong Kenshi Heavy Industry Machinery Co., Ltd., Tai'an Aerospace Special Vehicle Co., Ltd., Jiangsu Xugong Guozhong Laboratory Technology Co., Ltd., Mingshang Technology
Co., Ltd., Guangxi Liugong Machinery Co., Ltd.
The main drafters of this document are. Cao Donghui, Pei Jie, Wang Yinshu, Zhuo Jiwen, Guo Yunfei, Chen Baoqing, He Zhimin, Wan Cuncai, Tang Jianlin, Jiang Zhizhou,
Gan Qixian, Shi Xiangxing, and Peng Bingzhou.
introduction
This document belongs to the Class C standard defined in GB/T 15706-2012.
This document is particularly intended for the following stakeholder groups representing machinery safety market participants.
---Machinery manufacturers (small, medium and large enterprises);
---Health and safety agencies (regulatory agencies, accident prevention organizations, market surveillance, etc.).
Others may be influenced by the level of machinery safety achieved through this document by the above stakeholder groups.
---Machine users/employers (small, medium and large enterprises);
---Machine users/employees (e.g. trade unions, organizations of people with special needs);
---Service providers, such as maintenance service providers (small, medium and large enterprises);
--- Consumers (where the machine is used by consumers).
The above stakeholder groups may be involved in the drafting process of this document.
Furthermore, this document is intended for use by standardization bodies developing Type C standards.
The requirements of this document can be supplemented or modified by Type C standards.
For machines within the scope of Category C standards and machines designed and manufactured in accordance with the requirements of this document, the requirements of the Category C standards shall apply.
shall prevail.
The scope of this document describes the machinery involved and the hazards, hazardous situations or dangerous events covered.
When the requirements of this C-type standard differ from those specified in the A-type or B-type standards,
For machines manufactured for this purpose, the requirements of this Category C standard take precedence over those of other standards.
Detection systems and avoidance technologies are increasingly being used in earthmoving machinery to support operators in safely operating in mining and construction.
At the same time, there are calls for the establishment of detection, warning and intervention standards for machines and systems to reduce the risk of collisions.
Currently, there are two current standards in this field, ISO 16001 and ISO 17757, which are for object detection systems and their visual aids.
There are currently no standards describing collision risk awareness, warning signals, and human intervention.
The machine's collision avoidance behavior when there is a risk of collision.
Collision warning and avoidance systems are a developing technology and the algorithms are not mature or well understood.
The performance requirements of this document are technology neutral and do not specify the requirements that must be met.
technology.
The system described in this document is intended to assist machine operators, as current technology cannot achieve a complete collision avoidance in every situation.
Warning and avoidance, so the safe operation of the machine remains the responsibility of the machine operator.
GB/T 45864 "Collision Warning and Avoidance for Earth-moving Machinery" is a series of standards, consisting of five parts.
--- Part 1.General requirements. The purpose is to provide object detection, operator warning, collision avoidance, automatic intervention control and test
General requirements for test steps.
--- Part 2.On-board J1939 communication interface. The purpose is to describe the connection equipment used in earthmoving, mining and road construction applications.
On-board communication interface between the vehicle and the mobile machine to implement the intervention collision avoidance measures defined in Part 1.
--- Part 3.Forward/reverse risk areas and risk levels. The purpose is to propose the overall requirements of the anti-collision alarm device and clarify
The warning content and intervention actions that the anti-collision alarm device should issue when moving forward/backward.
--- Part 4.Risk areas and risk levels for swing/rotational motion. The purpose is to propose anti-collision measures for machines with swing/rotational motion.
The warning content and intervention actions that the alarm device should issue.
--- Part 5.Dangerous areas and hazard levels of other forms of movement. The purpose is to clarify the dangers of other forms of movement except forward/reverse, swing/rotation
Anti-collision requirements for other forms of sports;
The relevant provisions of Parts 2 to 5 are used in conjunction with the general requirements of Part 1 to better meet the requirements of use.
Earthmoving machinery collision warning and avoidance
Part 1.General requirements
1 Scope
This document provides terminology and guidance on collision warning and avoidance principles applicable to.
--- Earth-moving machinery as defined in ISO 6165;
--- Mobile underground mining machinery as defined in ISO 19296;
--- Road construction machinery as defined in ISO 22242.
This document provides general requirements for object detection, operator warning, automatic intervention control and test procedures for collision avoidance. It is intended to
Used with other components, it includes requirements for collision warning and avoidance systems, and the identification of risk areas and risk levels. ISO 21815 is a
The use case section of a standard defines specific requirements and definitions for a particular type of machine.
This document covers collision avoidance by deceleration or motion suppression and does not cover collision avoidance by automatic maneuvering (e.g., steering) away from the intended target.
Collision avoidance.
The systems described in this document are only intended to assist the operator in operating the machine. The operator remains responsible for operating the machine safely.
This document does not apply to collision warning and avoidance systems installed on machines before the publication date.
2 Normative references
The contents of the following documents constitute the essential clauses of this document through normative references in this document.
For referenced documents without a date, only the version corresponding to that date applies to this document; for referenced documents without a date, the latest version (including all amendments) applies to
This document.
GB/T 15706-2012 Safety of machinery – General principles for design – Risk assessment and risk reduction (ISO 12100.2010, IDT)
GB/T 21152-2018 Earth-moving machinery - Wheeled or high-speed rubber tracked machinery - Performance requirements and test methods for braking systems
(ISO 3450.2011,MOD)
Note. There is no technical difference between the referenced content of GB/T 21152-2018 and the referenced content of ISO 3450.2011.
ISO 13766-1 Earth-moving machinery and building construction machinery — Electromagnetic compatibility (EMC) for machines with built-in power supplies — Part 1.Typical voltage ratings
Note. GB/T 22359.1-2022 Earthmoving machinery and construction machinery - Electromagnetic compatibility (EMC) of machines with built-in power supplies - Part 1.Typical electromagnetic compatibility
General requirements for EMC under environmental conditions (ISO 13766-1.2018, IDT)
ISO 13766-2 Earth-moving machinery and building construction machinery — Electromagnetic compatibility (EMC) for machines with built-in power supplies — Part 2.Functional safety
forfunctionalsafety]
Note. GB/T 22359.2-2022 Earthmoving machinery and construction machinery - Electromagnetic compatibility (EMC) of machines with built-in power supplies - Part 2.Functional safety
Additional EMC requirements (ISO 13766-2.2018, IDT)
ISO 13849 (all parts) Safety of machinery - Safety-related parts of control systems
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