(the latest version, superseding the 2020 edition) is titled "Industrial trucks – Safety requirements and verification – Part 4: Driverless industrial trucks and their systems."
Many believe LiDAR alone is sufficient. Wrong. ISO 3691-4 requires a documented strategy: either physical barriers, light curtains, or speed reduction zones (≤ 0.3 m/s near walkways). Clause 4.4.3 – "Protective separation distance." Iso 3691-4 Pdf
Specifies how different environments (confined, restricted, or public zones) affect safe operation and the required clearances. (the latest version, superseding the 2020 edition) is
The 2023 revision replaced the 2020 version with several technical enhancements: ISO 3691-4:2023(en), Industrial trucks (the latest version