无人地面车辆乡村典型工作环境复杂度评价

Evaluation of typical rural environment complexity of the unmanned ground vehicles

环境复杂度是无人地面车辆自主性评价三因素(即任务复杂度、环境复杂度、人机交互程度)的一个重要方面。在对美国陆军新版《作战纲要》中作战环境分析的基础上,定义无人地面车辆乡村典型工作环境,以该环境复杂度作为评价目标,分为道路环境、车道内障碍、路面覆盖、路面破损、光照与阴影、成像模糊六个评价方面,建立乡村典型工作环境复杂度评价指标体系。通过算法进行道路边界分割,实现定量评价,并给出典型场景中环境复杂度的参考值。

Environment complexity is an important aspect of the autonomy evaluation of the unmanned ground vehicles（ UGVs）,which has three factors,i. e. task complexity,environmental complexity and the degree of human-computer interaction. On the basis of the operational environment analysis of the new battle outline of the U. S. army,the typical rural environment of the unmanned ground vehicles was defined.The environment complexity was divided into six aspects,i. e. the inside lane road,obstacles,pavement,road surface damage,light and shadow and fuzzy imaging evaluation. Evaluation index system of the typical rural environment complexity was established. By dividing the road boundary through the algorithm,a quantitative evaluation method was implemented. Moreover,the reference values of the environments complexity in several typical situations were given.