面向自主能力评价的地面车辆环境复杂度分级方法

侯军芳; 张梅; 李娟

doi:10.12382/bgxb.2025.0767

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面向自主能力评价的地面车辆环境复杂度分级方法

更新时间：2026-02-10

- 面向自主能力评价的地面车辆环境复杂度分级方法
- An Environmental Complexity Grading Method for Autonomous Capability Evaluation of Ground Vehicles
- 兵工学报 2025年46卷第S2期页码：250767
- 作者机构：
  
  部队, 北京 100072
- 作者简介：
  
  * 邮箱: houjf1234@163.com
- 基金信息：
- DOI：10.12382/bgxb.2025.0767
  中图分类号：
- 收稿：2025-08-21，
  
  网络首发：2026-02-03，
  
  纸质出版：2025
- 稿件说明：
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侯军芳, 张梅, 李娟. 面向自主能力评价的地面车辆环境复杂度分级方法[J]. 兵工学报, 2025,46(S2):250767.

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.
侯军芳, 张梅, 李娟. 面向自主能力评价的地面车辆环境复杂度分级方法[J]. 兵工学报, 2025,46(S2):250767. DOI： 10.12382/bgxb.2025.0767.

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.

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references

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