1.1 本标准指南提供了一套用于自动、自动或自主无人地面车辆（a-UGV）的标准参考对象。对象集包括工业区域内的典型对象，包括但不限于:仓库、医院、办公空间和制造设施。此外，对象集包括ANSI/ITSDF B56.5中的三个测试件。该对象集供A-UGV制造商和用户使用，以测试靠近对象时A-UGVs的性能。对象集被最小化，以包括已被证明会导致A-UGV操作中断的特征。除了这组对象，测试方法 第3418页 用于记录大多数对象。 1.2 对象集包含以下各项中的每一项:托盘、货架、梯子、电缆盖、桌子、推车、静脉注射（IV）杆、椅子、叉车叉和ANSI/ITSDF B56.5中所示的测试件，包括水平圆柱体、垂直圆柱体和平板。对象集并非详尽无遗。 1.3 目标是对象集主要包括现成项目。本标准指南提供了一种报告方法，以提供障碍物信息（例如，型号、序列号、照片），从而允许障碍物用于准确复制测试。 1.4 以国际单位表示的数值应视为标准。 括号中给出的值不是精确的英制单位的数学转换。为了规定材料尺寸或数量，这些尺寸或数量非常接近，以避免测试设备的过度制造成本，同时保持测试方法结果的重复性和再现性。括号中给出的这些值仅供参考，不被视为标准值。 1.5 本标准并不旨在解决与其使用相关的所有安全问题（如有）。本标准的使用者有责任在使用前建立适当的安全、健康和环境实践，并确定监管限制的适用性。 1.6 本国际标准是根据世界贸易组织技术性贸易壁垒委员会发布的《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认标准化原则制定的。 =====意义和用途====== 4.1 A-UGV在例如制造、仓库、医院和其他环境中导航、停靠或执行其他任务或其组合。对象（定义见术语 3200美元 作为环境中非基础设施的任何事物）和障碍（定义见术语 3200美元 作为阻碍预期移动的静止或移动物体）在这些环境中是常见的。物体可能在导航、对接等方面造成A-UGV挑战（参见测试方法 第3244页 指导 第3470页 )其中物体检测系统必须提供最高水平的性能以允许安全和高效的车辆使用。ASTM委员会F45调查了制造商、用户和研究人员组成的A-UGV社区，并确定相对较短的物体列表是其车辆必须检测和避免的最常见物体。此外，ANSI/ITSDF B56.5包括三个代表 (1) 人体躯干水平放置 (2) 站立的人腿，两个都有最坏的情况，平坦的黑色涂层，以及 (3) 平面物体（例如盒子、门、人造材料），包括最坏情况下的高（光学）反射涂层。此处列出了调查结果，并将其视为仓储/制造、医疗保健、家庭和零售环境中的示例对象: 4.1.1 托盘、货架、轮式推车； 4.1.2 其他A-UGV或AMR； 4.1.3 台阶或楼梯； 4.1.4 桌子或桌子、梯子； 4.1.5 电缆或软管，或两者； 4.1.6 椅子、悬挑（即物体上）； 4.1.7 IV极；和 4.1.8 叉车/叉车齿。 由于某些对象可能仅适用于A- UGV对象检测测试（例如， 4.1.2 , 4.1.3 和 4.1.8 )，其余对象作为对象可能更具成本效益，本指南将其描述为标准对象集。 4.2 对象在其类别内可能会有很大的变化。例如，托盘可以由木材、塑料或金属制成；具有多种尺寸；底部可以有轮子或没有轮子；未涂覆或涂覆有不同的反射涂层。因此，本指南中提供的标准对象集描述了一组特定的对象和特性，这些对象和特性在其用户中高度可重复。 4.3 集合中的对象数量预计将增加为A- UGV在能力和智能方面有所改进，因此，A-UGV的实施也有所扩展。

1.1 This standard guide provides a standard set of reference objects for use with automatic, automated, or autonomous unmanned ground vehicles (A-UGVs). The objects set includes typical objects found within industrial areas including, but not limited to: warehouses, hospitals, office spaces, and manufacturing facilities. Also, the objects set includes three test pieces from ANSI/ITSDF B56.5. The objects set is intended for use by A-UGV manufacturers and users to test the performance of A-UGVs when near the object(s). The objects set is minimized to include characteristics that have proven to cause interrupted A-UGV operation. Beyond this set of objects, Test Method F3418 is used to record most any object. 1.2 The objects set contains one each of the following items: pallet, racking, ladder, cable cover, table, cart, intravenous (IV) pole, chair, forklift tines, and test pieces shown in ANSI/ITSDF B56.5, including a horizontal cylinder, vertical cylinder, and flat plate. The objects set is not intended to be exhaustive. 1.3 It is intended that the objects set mainly includes off-the-shelf items. This standard guide provides a reporting method to provide obstacle information (for example, model, serial number, photograph) to allow obstacle use for exact replication of tests. 1.4 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard. 1.5 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use. 1.6 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee. ====== Significance And Use ====== 4.1 A-UGVs navigate, dock, or perform other tasks, or combinations thereof, within for example manufacturing, warehouse, hospital, and other environments. Objects (defined in Terminology F3200 as anything in the environment that is not infrastructure) and obstacles (defined in Terminology F3200 as static or moving objects that obstruct the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. (see Test Method F3244 , Guide F3470 ) where the object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users, and researchers, and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. Additionally, ANSI/ITSDF B56.5 includes three test pieces that represent (1) the human body torso lying horizontally and (2) standing human leg, both with worst case, flat black coatings, and (3) flat objects (for example, boxes, doors, manufactured materials), including a worst case, highly (optically) reflective coating. The survey results are listed here and are considered example objects found in warehousing/manufacturing, healthcare, domestic, and retail environments: 4.1.1 Pallets, racking, wheeled carts; 4.1.2 Other A-UGVs or AMRs; 4.1.3 Steps or stairs; 4.1.4 Tables or desks, ladders; 4.1.5 Cables or hoses, or both; 4.1.6 Chairs, overhangs (that is, on objects); 4.1.7 IV poles; and 4.1.8 Forklifts/forklift tines. As some objects may not be cost-effectively available for only A-UGV object detection tests (for example, 4.1.2 , 4.1.3 , and 4.1.8 ), the remaining objects are potentially more cost-effective as objects and are described in this guide as the standard set of objects. 4.2 The objects can vary greatly within their category. For example, pallets can be made of wood, plastic, or metal; have a variety of dimensions; can have wheels or no wheels on the bottom; are not coated or coated with varying reflective coatings. As such, the standard objects set provided in this guide describes a specific set of objects and characteristics that are highly repeatable across their users. 4.3 The number of objects within the set is expected to increase as A-UGVs improve in capabilities and intelligence, and therefore, where A-UGV implementations expand.