ISO/TS 21815-2:2021 土木機械—衝突警告と回避—パート2：オンボードJ1939通信インターフェース | ページ 6

3.1

collision warning system

CWS

system which detects intended objects in the collision risk area, evaluates the collision risk level and provides a warning to the operator

[SOURCE:ISO 21815‑1:—, 3.8]

3.2

collision avoidance system

CAS

system which detects intended objects in the collision risk area, evaluates the collision risk level and provides interventional collision avoidance action (3.9)

[SOURCE:ISO 21815‑1:—, 3.9]

3.3

CxS

CWS (3.1) or CAS (3.2) or both

[SOURCE:ISO 21815‑1:—, 3.10]

3.4

CxS device

CxD

proximity detection system

device with sensors providing CxS (3.3) functions to detect objects in the proximity of the machine, assess the collision risk level, warn the operator of the presence of object(s) for CWS (3.1) , and/or provide signals to the machine control system to initiate the appropriate interventional collision avoidance action (3.9) on the machine for CAS (3.2)

Note 1 to entry: Proximity detection system (PDS) is a colloquial industry term for a physical device providing CWS or CAS functionality.

3.5

on-board communication interface

bi-directional connection between a CxD (3.4) and the machine in a CWS (3.1) or CAS (3.2)

Note 1 to entry: The CxS (3.3) may utilise information sent from the machine via the on-board communication interface to improve the estimation of the collision risk level. Only a CAS can initiate interventional collision avoidance action (3.9) over the on-board communication interface.

3.6

register

storage location on the machine side of the on-board communication interface (3.5) that may be read and optionally written to by the CxD (3.4)

Note 1 to entry: Changing the value of a register does not immediately initiate an interventional collision avoidance action (3.9) .

3.7

parameter

type of register (3.6) that is used to store configuration information

3.8

setpoint

type of register (3.6) that is used by the machine to respond to an interventional collision avoidance action (3.9)

3.9

action

message sent from the CxD (3.4) to the machine to change an internal register (3.6) , or to initiate a machine function

3.10

enquiry

3.11

instruction

action (3.9) or enquiry (3.10) issued by the CxD (3.4)

3.12

reply

response (3.35) of the machine to an instruction (3.11) from the CxD (3.4)

3.13

logical group

grouping of related information or instruction (3.11) elements into a coherent message, sent from the CxD (3.4) to the machine or from the machine to the CxD over the on-board communication interface (3.5)

3.14

+bat

system voltage of the machine as defined by the machine manufacturer

Note 1 to entry: Typical voltages are 12 V or 24 V DC.

3.15

key switch

device used by the operator to turn on or turn off the machine

3.16

isolator switch

disconnect switch

device used by the operator to isolate the batteries or electrical supply to the machine

3.17

+bat(switched)

machine system level voltage that is turned on or off through the key switch (3.15)

3.18

+bat(un-switched)

voltage that is not affected by the state of the key switch (3.15) , but is affected by the isolator switch (3.16)

3.19

CxD harness

auxiliary wiring between the machine connector and the CxD (3.4) connector

3.20

CxD bus

CAN-bus communication path between the machine and the CxD (3.4) terminated by 120 Ohm resistors at each end

3.21

CxD branch

machine-to-CxD bus or CxD-to-CxD bus wiring connection

3.22

PowerOn()

startup sequence for the machine that enables CxD (3.4) operation

3.23

doNegotiation()

automatic or semi-automatic process that verifies the credentials of the CxD (3.4) attached to the machine and returns permissions for the CxD to send commands to the machine and receive machine information

3.24

enableTimeout()

automatic process that enables an automatic timer that counts down to zero and sets a flag that there has been a communications error on the J1939 on-board communication interface (3.5)

3.25

resetTimeout()

automatic process that resets the automatic timer and clears the error flag indicating that the J1939 on-board communication interface (3.5) is functioning normally

3.26

doEmergencyStop()

automatic process that initiates an emergency stop on the machine

3.27

doControlledStop()

automatic process that initiates a controlled stop on the machine

3.28

doSlowDown()

automatic process that slows down the machine

3.29

doStandDown()

automatic process that brings the machine to a halted state

3.30

doBypassPropulsion()

instruction to bypass the propulsion system

3.31

doApplyPropulsionSetpoints()

activation of braking, throttle, speed setpoint (3.8) registers (3.6)

3.32

doMotionInhibit()

automatic process that prevents a machine from moving while stationary

3.33

doNormalOperation()

instruction (3.11) for the machine to continue with normal operation or return to normal operation

Note 1 to entry: This instruction has the effect of cancelling any other interventional collision avoidance action (3.9) that is already in progress.

3.34

challenge

unique message issued by the machine to the CxD (3.4) to which a valid reply (3.12) is expected

3.35

response

reply (3.12) by the CxD (3.4) to the challenge (3.34) issued by the machine to establish trust