Name: ISO/TS 21815-2:2021 — Earth-moving machinery — Collision warning and avoidance — Part 2: On-board J1939 communication interface
SKU: ISO/TS 21815-2:2021
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Abstract

Overview

ISO/TS 21815-2:2021 specifies an on-board SAE J1939 communication interface for collision warning and avoidance on earth-moving, mining and road‑construction machines. It defines how a connected device (CxD) - a collision avoidance system (CAS) or collision warning system (CWS) - exchanges messages with a machine over the J1939/CAN bus to enable interventional actions (slow down, stop, hold) and to supply input data for warning functions. The specification focuses on J1939 message structures, logical and physical interfaces, session negotiation and operational sequences while remaining technology‑neutral with respect to sensing and decision algorithms.

Key topics and requirements

Scope of intervention: Commands enable slowing, stopping or maintaining stationary linear motion; rotational/compound movements are only considered for their linear travel component.
J1939 protocol mapping: Defines PGNs and SPN structures for messages such as machine status, commands, replies and machine data (including propulsion).
Logical interface: Capability discovery, negotiation, initialization and normal operation sequences so a CxD can determine machine support and permitted actions.
Physical interface: Machine and CxD connector requirements, an override (operator) switch, and the physical layer recommendations (references SAE J1939-15 for reduced physical layer, CAN/UTP at 250 kbit/s).
Security and trust: Annex B provides a certificate‑based trust mechanism at the session layer to help authenticate and authorize CxD–machine sessions.
Documentation & implementation guidance: Requirements for machine and system documentation plus informative annexes with communication sequences and override/standby implementation examples.
Non plug‑and‑play: The standard is not a turnkey plug‑and‑play recipe - some details can and should be negotiated between the machine OEM and CxD manufacturer.

Applications and who should use it

Machine manufacturers / OEMs integrating external CAS/CWS devices into hydraulic excavators, loaders, haul trucks and other earth‑moving equipment.
CAS / CWS device makers (CxD manufacturers) building on‑board devices that command or inform machine control systems via J1939.
System integrators and fleet operators standardizing safety interfaces across mixed fleets.
Safety engineers and certification bodies who evaluate collision‑avoidance integration and compliance with industry practices.

Related standards

ISO 21815-1 (collision warning & avoidance - general principles)
SAE J1939 / J1939-15 (vehicle network protocols and reduced physical layer)
ISO 19014-3 (functional safety environmental/test requirements)
ISO 16001 and ISO 17757 (visibility aids / autonomous machine guidance - related domains)

Keywords: ISO/TS 21815-2:2021, earth-moving machinery, collision warning and avoidance, J1939, SAE J1939, CAS, CWS, on-board communication interface, machine OEM, CxD, CAN bus.

ISO/TS 21815-2:2021 PDF

Похожие стандарты

Abstract

Overview

Key topics and requirements

Applications and who should use it

Related standards

Технические детали

BS ISO 21815-1:2022

Earth-moving machinery. Collision warning and avoidance. General requirements.

SIST EN ISO 19014-3:2019

Earth-moving machinery - Functional safety - Part 3: Environmental performance and test requirements of elect…

SIST EN ISO 16001:2018

Earth-moving machinery - Object detection systems and visibility aids - Performance requirements and tests (I…

ISO 17757:2019

Earth-moving machinery and mining — Autonomous and semi-autonomous machine system safety