An Environmental Complexity Grading Method for Autonomous Capability Evaluation of Ground Vehicles

Junfang HOU; Mei ZHANG; Juan LI

doi:10.12382/bgxb.2025.0767

您当前的位置：

首页 >

文章列表页 >

An Environmental Complexity Grading Method for Autonomous Capability Evaluation of Ground Vehicles

更新时间：2026-02-10

- An Environmental Complexity Grading Method for Autonomous Capability Evaluation of Ground Vehicles
- Acta Armamentarii Vol. 46, Issue S2, Pages: 250767(2025)
- 作者机构：
  
  部队, 北京 100072
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0767
  CLC：
- Received：21 August 2025，
  
  Online First：03 February 2026，
  
  Published：2025
- 稿件说明：
移动端阅览
Junfang HOU, Mei ZHANG, Juan LI. An Environmental Complexity Grading Method for Autonomous Capability Evaluation of Ground Vehicles[J]. Acta Armamentarii, 2025, 46(S2): 250767.
DOI：

Junfang HOU, Mei ZHANG, Juan LI. An Environmental Complexity Grading Method for Autonomous Capability Evaluation of Ground Vehicles[J]. Acta Armamentarii, 2025, 46(S2): 250767. DOI： 10.12382/bgxb.2025.0767.

摘要

非结构化环境是影响地面车辆自主能力的关键因素之一

自主能力等级测试评估的前提就是对非结构化环境的复杂度进行分级。建立基于任务的地面车辆自主能力四维度评价模型

针对其中的环境复杂度

分析陆地非结构化环境要素构成和特性

提出环境复杂度分级原则

针对地面车辆在执行任务期间不同空间位置的环境要素差异

提出一种基于任务路径空间极值包络的环境复杂度分级评估模型

并分别构建地形地貌、道路、障碍、气候环境和战场干扰等环境要素的归一化量化评估方法

对某典型战场环境进行复杂度分级。研究结果表明

与面向自主机动任务的道路交通环境相比

面向作战任务的非结构化战场环境要素更复杂

通过逐级分解

按照对自主能力的影响将各环境要素分级评分

并按最严酷值计算复杂度的评价方法简便可行

为非结构化战场环境的复杂度评估提供了方法参考。

Abstract

Unstructured environment is one of the key factors affecting the autonomous capability of ground vehicles

and the complexity classification of the unstructured environment is a prerequisite for the testing and evaluation of autonomous capability levels.Firstly

a four-dimensional evaluation model for the autonomous capability of ground vehicles based on tasks is established.Then the composition and characteristics of land unstructured environmental elements are analyzed

and a grading principle of land environmental complexity is proposed.With respect to the differences of environmental elements at different spatial positions during the mobile route of ground vehicle

a grading evaluation model based on mission route spatial extreme envelope is proposed for environment complexity

and the normalized quantitative evaluation methods for environmental elements such as terrain

roads

obstacles

climatope and battlefield interference are constructed.Finally

the complexity of a typical battlefield environment is graded.The results show that the elements of the unstructured battlefield environment for combat tasks are more complex than those of the road traffic environment for autonomous mobility tasks.The evaluation method

which is to conduct the grading and scoring of each environmental element based on its impact on autonomous capabilities through step-by-step decomposition

and calculate the complexity according to the most severe value

is simple and feasible

providing a methodological reference for the complexity evaluation of unstructured battlefield environments.

关键词

Keywords

references

HUANG H M , ALBUS J , MESSINAN E , et al. Specifying autonomy levels for unmanned systems [C ] // Proceedings of the 2004 SPIE Defense and Security Symposium Conference.Orlando,FL , US : SPIE Press , 2004 : 386 - 397 .

孙扬 . 无人驾驶车辆智能水平的定量评价 [D ] . 北京 : 北京理工大学 , 2014 .

SUN Y . Quantitative evaluation of intelligence levels for unmanned ground vehicles [D ] . Beijing : Beijing Institute of Technology , 2014 . (in Chinese)

李静 , 唐振民 , 谭业发 , 等 . 无人地面车辆自主性评价指标体系研究 [J ] . 微型机与应用 , 2016 , 35 ( 2 ): 66 - 69 .

LI J , TANG Z M , TAN Y F , et al. Research on autonomy evaluation index system of the unmanned ground vehicles [J ] . Microcomputer & Its Applications , 2016 , 35 ( 2 ): 66 - 69 . (in Chinese)

史辉 , 刘向前 . 地面无人平台在典型战场环境中的自主机动性能评价研究 [J ] . 兵工学报 , 2014 , 35 ( 增刊1 ): 17 - 24 .

SHI H , LIU X Q . Assessment method for autonomous mobility of UGVs in a typical battlefield environment [J ] . ActaArmamentarii , 2014 , 35 ( S1 ): 17 - 24 . (in Chinese)

李文璋 , 陶业荣 , 唐川 . 基于多专家信息融合Fuzzy-EAHP的地面无人平台自主能力评估方法 [J ] . 火力与指挥控制 , 2024 , 49 ( 11 ): 157 - 168 .

LI W Z , TAO Y R , TANG C . Autonomous capability evaluation method of UGVs based on multi-expert formation fusion fuzzy-EAHP [J ] . Fire Control & Command Control , 2024 , 49 ( 11 ): 157 - 168 . (in Chinese)

HUANG H M , PAVEK K , NOVAK B , et al. A framework for autonomy levels for unmanned systems [C ] // Proceedings of the AUVSI’s Unmanned System North America Conference.Baltimore,MD , US : Association for Unmanned Vehicle Systems , 2005 : 849 - 863 .

张昕 . 无人车通过特殊区域智能行为评价研究 [D ] . 北京 : 北京理工大学 , 2015 .

ZHANG X . Research on evaluation of intelligence behaviors through specials areas for unmanned ground vehicles [D ] . Beijing : Beijing Institute of Technology , 2015 . (in Chinese)

张海潮 . 基于引力模型的道路交通环境复杂度研究 [D ] . 北京 : 北京理工大学 , 2016 .

ZHANG H C . Research on complexity of road traffic environment based on gravity model [D ] . Beijing : Beijing Institute of Technology , 2016 . (in Chinese)

LIU Y K , HANSEN J H L . Towards complexity level classification of driving scenarios using environmental information [C ] //Proceedings of IEEE Intelligent Transportation Systems Conference.New York,NY, US:IEEE , 2019 : 810 - 819 .

周一飞 . 基于环境复杂度模型的VFH路径规划算法研究 [D ] . 大连 : 大连理工大学 , 2020 .

ZHOU Y F . Researchof VFH path planning algorithm based on environment complexity model [D ] . Dalian : Dalian University of Technology , 2020 . (in Chinese)

冯岩 . 基于监督学习的驾驶场景复杂度研究 [D ] . 北京 : 北方工业大学 , 2023 .

FENG Y . Research on driving scene complexity based on supervised learning [D ] . Beijing : North China University of Technology , 2023 . (in Chinese)

高利 , 戴钰 , 赵亚男 , 等 . 基于环境复杂度的危险品运输车辆碰撞预警策略 [J ] . 北京理工大学学报 , 2022 , 42 ( 3 ): 261 - 270 .

GAO L , DAI Y , ZHAO Y N , et al. A collision warning strategy considering environmental complexity for dangerous goods transportation vehicles [J ] . Transactions of Beijing Institute of Technology , 2022 , 42 ( 3 ): 261 - 270 . (in Chinese)

KIM I Y , KANG D Y , JEONG H . Method of evaluating multiple scenarios in a single simulation run for automated vehicle assessment [J ] . Sensors , 2023 , 23 ( 19 ): 1 - 19 .

孙航 , 李雨冉 , 张琳琳 , 等 . 基于设计运行条件的实际道路测试场景复杂度计算模型 [J ] . 汽车工程 , 2024 , 46 ( 11 ): 1983 - 1992 .

SUN H , LI Y R , ZHANG L L , et al. Scenario complexity calculation model of real road test based on operational design condition [J ] . Automotive Engineering , 2024 , 46 ( 11 ): 1983 - 1992 . (in Chinese)

李道飞 , 潘豪 . 场景复杂度评估在轨迹预测和驾驶决策中的应用 [J ] . 汽车工程 , 2024 , 46 ( 9 ): 1556 - 1563 .

LI D F , PAN H . Application of scenario complexity evaluation in trajectory prediction and automated driving decision-making [J ] . Automotive Engineering , 2024 , 46 ( 9 ): 1556 - 1563 . (in Chinese)

马千里 , 王通 , 邵帅 , 等 . 路测环境下无人驾驶小巴复杂场景运行评价 [J ] . 交通运输系统工程与信息 , 2024 , 24 ( 4 ): 300 - 310 .

MA Q L , WANG T , SHAO S , et al. Evaluation of driverless minibus operation in complex scenarios under road test environment [J ] . Journal of Transportation System Engineering and Information Technology , 2024 , 24 ( 4 ): 300 - 310 . (in Chinese)

陆泽辉 , 彭育辉 , 黄炜 , 等 . 环境复杂度量化评价下的车位选择方法 [J ] . 福州大学学报(自然科学版) , 2024 , 52 ( 1 ): 61 - 68 .

LU Z H , PENG Y H , HUANG W , et al. A quantitative evaluation method of ambient environment complexity of parking space for automatic system [J ] . Journal of Fuzhou University (Natural Science Edition) , 2024 , 52 ( 1 ): 61 - 68 . (in Chinese)

米俊松 . 基于场景复杂度的智能驾驶测试用例研究 [D ] . 成都 : 西华大学 , 2024 .

MI J S . Research on test cases of intelligent driving based on scene complexity [D ] . Chengdu : Xihua University , 2024 .(in Chines)

朱冰 , 范天昕 , 赵文博 , 等 . 自动驾驶汽车连续测试场景复杂度评估方法 [J ] . 吉林大学学报(工学版) , 2025 , 55 ( 2 ): 456 - 467 .

ZHU B , FAN T X , ZHAO W B , et al. Continuous test scenario complexity evaluation method for automated driving vehicles [J ] . Journal of Jilin University (Engineering and Technology Edition) , 2025 , 55 ( 2 ): 456 - 467 . (in Chinese)

庄久昌 . 论我国陆地战场地形的分类 [J ] . 解放军测绘学院学报 , 1991 ( 3 ): 61 - 65 .

ZHUANG J C . The classification of battlefield topography in our country [J ] . Journal of Geomatics Science and Technology , 1991 ( 3 ): 61 - 65 . (in Chinese)

中国气象局 . 降水量等级:GB/T 28592-2012 [S ] . 北京 : 中国标准出版社 , 2012 .

China Meteorological Administration . Grade of precipitation:GB/T 28592-2012 [S ] . Beijing : Standards Press of China , 2012 . (in Chinese)

全国气象防灾减灾标准化技术委员会 . 雾的预报等级:GB/T 27964-2011 [S ] . 中国标准出版社 , 2011 .

China Meteorological Administration . Grade of fog forecast:GB/T 27964-2011 [S ] . Beijing : Standards Press of China , 2011 . (in Chinese)

中国气象局 . 沙尘天气等级:GB/T 20480-2017 [S ] . 北京 : 中国标准出版社 , 2017 .

China Meteorological Administration . Classification of sand and dust weather:GB/T 20480-2017 [S ] . Beijing : Standards Press of China , 2017 . (in Chinese)

中国气象局 . 冰雹等级:GB/T 27957-2011 [S ] . 北京 : 中国标准出版社 , 2011 .

China Meteorological Administration . Grade of hail:GB/T 27957-2011 [S ] . Beijing : Standards Press of China , 2011 . (in Chinese)

中国气象局 . 风力等级:GB/T 28591-2012 [S ] . 北京 : 中国标准出版社 , 2012 .

China Meteorological Administration . Wind scale:GB/T 28591-2012 [S ] . Beijing : Standards Press of China , 2012 . (in Chinese)

马艳艳 , 林强 , 李晓旭 . 基于层次分析法的电磁环境复杂度计算与评估 [J ] . 现代防御技术 , 2024 , 52 ( 6 ): 17 - 23 .

MA Y Y , LIN Q , LI X X . Calculation and evaluation method of complex electromagnetic environment based on analytic hierarchy process [J ] . Modern Defense Technology , 2024 , 52 ( 6 ): 17 - 23 .(in Chines)

Views

104

下载量

CNKI被引量

Alert me when the article has been cited

提交

Tools

Publicity Resources

A Field-adaptive Multi-robot Collaborative Real-time Mapping System

Negative Obstacle Detection for Ground Unmanned Vehicles Using Multiple Types of LiDAR in Unstructured Environments

Trajectory Optimization and Lateral Position-heading Angle Coordinated Tracking Control for Reconfigurable Unmanned Ground Vehicles

Synergistic Optimization Mechanism of Multi-level Heat Treatment Regulating Microstructure and Properties of Wire Arc Additive Manufactured 18Ni Maraging Steel

Research on the Penetration Mechanism of Tungsten Amorphous Alloy Composite Armor-piercing Projectile

Related Author

JIANG Kai

TANG Jie

YANG Di

LIU Shaoshan

Danfeng WU

Tongzhou CHEN

Minchi KUANG

Chunsen SONG

Related Institution

School of Computer Science and Engineering，South China University of Technology

Shenzhen Institute of Artificial Intelligence and Robotics for Society

Postal code：100089
Tel：010-68963060/68962718 Fax：010-68963025 Email：bgxb@cos.org.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备05059581号-4 京公网安备11010802024360号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
Total Visits：198925 Visits Today：644 Online Users：9

⁰