Covers requirements for rear underrun protection devices and their installation on category M, N and O vehicles having a gross vehicle mass (GVM) exceeding 3 500 kg and intended for use on public roads, except for truck tractors for drawing semi-trailers, slung trailers and other similar trailers for the transport of logs or other very long items, vehicles for which rear underrun protection devices are incompatible with their use, vehicles that run on rails, vehicles specified in the relevant national regulation, and chassis vehicles without bodies being driven to a place to have bodywork fitted or to a dealer of such vehicles.