Method and System for Evaluating the Impact Efficiency of Spatiotemporal Environment Based on Minimum-Cost Planning

Abstract

The present invention belongs to the field of mission environment effectiveness evaluation, and particularly relates to a method and system for evaluating the effectiveness of spatio-temporal environment impact based on minimum-cost planning. According to the spatio-temporal environment impact factors, a comprehensive spatio-temporal environment impact model is constructed to describe the continuous change of the spatio-temporal environment impact factors affecting mission execution over time. Among them, the spatio-temporal environment impact factors at least include: environmental variables, situation variables, and ability variables that affect mission execution, as well as the laws of their continuous change over time; the model is solved with minimum cost, and the minimum-cost solutions of various costs are obtained by searching within the feasible spatio-temporal domain, and the mission effectiveness is evaluated using the performance of the minimum-cost solutions. By comprehensively and thoroughly analyzing the mutual influence relationship and dynamic process among the five objects of mission, environment, situation, ability, and time, the present invention realizes the comprehensive evaluation of the impact effectiveness of the spatio-temporal environment on mission execution, and provides technical support for formulating the overall optimal and minimum-cost mission execution plan in terms of space and time.

Description

Technical Field

[0001] The present invention belongs to the field of mission environment effectiveness evaluation, and particularly relates to a method and system for evaluating the effectiveness of spatio-temporal environment impact based on minimum cost planning. Background Art

[0002] In a specific domain, a task refers to a single-stage action in the physical space. A task is a broad concept. It is an ordered set of a series of interrelated actions that an action unit undertakes to fulfill its responsibilities or achieve specific goals under certain environmental, temporal, and spatial constraints, including actions in multiple stages in both the physical space and the non-physical space, as well as the association and coordination between these stages. There are mutual influences or dependencies between the actions in each stage. It is a complex combination. Besides the basic environmental impacts, more importantly, there are ingenious strategies. A single-stage action is a stage action plan that is divided from the overall task by the commander through complex strategy analysis, which determines the specific action pattern, risk preference, implementing entity, starting conditions, and achievable goals, and does not include the influence of strategies. The environmental impact assessment of a single-stage action is the basis for the overall combat action effectiveness assessment and the basic basis for formulating strategies, and has important research value. Among them, "environment" includes not only the physical environment such as geography, meteorology, hydrology, light, vegetation, sound, electromagnetism, and space in the general sense, but also the conceptual environments such as economic, ecological, humanistic, military, and political environments. As long as it is a factor that may affect the task execution, it can belong to the category of "environment". The so-called comprehensive impact of the environment refers to the impact of the environment on human activities, ranging from the impact on a certain task or action to the impact on the process of human survival and evolution. The scope of the environmental impact described in this patent is limited to the impact of the overall environment on the execution process of a single-stage action within a certain time and space. However, the impact assessment of the environment on the task cannot only focus on the environment. In fact, in addition to the environment, the execution of the task is also affected by the situation and the capabilities of both sides during the task implementation. Even in some cases, the situation and capability factors are the main reasons. Therefore, it is unrealistic to study the impact of the environment on the task in isolation. It is necessary to combine the factors of both participating sides and place it under the influence of the situation to scientifically evaluate the comprehensive impact of the environment. To a certain extent, the situation and capabilities are also affected by the environment. The study of the impact on the situation and capabilities itself is also an extension of the study of the environmental impact. The interpretation of "situation" in the Chinese Dictionary is: the situation and state of the development of things. Paying attention to the current state and development trend of the task mainly includes two parts: situation assessment and threat assessment. The quantitative or qualitative description of the enemy, ourselves, friends, and events is the basis for situation expression. As a factor that cannot be ignored in affecting the task execution, capability plays a relatively important role in the environmental analysis facing the task. The concept of capability includes many elements such as the personnel capabilities, scale, training level, biological habits (such as sleep and eating habits), capabilities and states, and support levels of the task executors and related situation objects (such as enemy and friendly units). Under the comprehensive influence of the environment, these elements will have a significant impact on the task execution. For example, the maximum climbing performance of a vehicle will directly determine the reachable range in space, and the needs of personnel for sleep and food can affect the progress of the task execution, etc.In the process of evaluating the impact of the environment on a task, fully considering the ability factor is the key to the scientific nature and pertinence of the evaluation method. An evaluation that disregards the ability factor cannot reflect the true environmental impact. Moreover, factors such as the situation, ability, and environment are all continuously changing or mutating over time. At the same location, for the same task performer, due to changes in the situation and conditions such as meteorology and lighting, there is a need for rest and food intake, and the comprehensive environmental impact of performing the task at different times may be completely different. A static research method cannot reflect the true impact of the dynamic environment on the task. Time is the only parameter that runs through these changes, so the environment, situation, and ability can all be regarded as complex time-related functions. Traditional GIS-based minimum-cost path analysis is generally carried out in a two-dimensional space plane. Using path search algorithms and following the principle that path spaces do not cross, most analyses are based on the principles of economic benefits or time costs. If there is a crossing, it means that a route loop will be formed, which is equivalent to wasting the consumed costs. However, crossing paths in space are inevitable and even extremely useful in specific environments, such as the interspersed trajectories designed to avoid risks in military activities. Therefore, the traditional GIS-based minimum-cost path analysis method is no longer applicable to the evaluation of the effectiveness of complex and changeable task implementation environments. Summary of the Invention

[0003] To this end, the present invention provides a spatio-temporal environment impact effectiveness evaluation method and system based on minimum-cost planning. By using the evaluation model, it is possible to comprehensively and reasonably evaluate the task effectiveness, achieving the purpose of scientifically and accurately understanding and analyzing the performance of the evaluation task in a complex, changeable, and multi-factor dynamic environment. Moreover, the computer operation output efficiency is high, facilitating the timely and effective acquisition of the execution strategy during the task implementation process.

[0004] According to the design solution provided by the present invention, a spatio-temporal environment impact effectiveness evaluation method based on minimum-cost planning is provided, including:

[0005] Based on the spatio-temporal environment impact factors, construct a spatio-temporal environment comprehensive impact model for describing the continuous change of the task spatio-temporal environment impact factors over time. Among them, the spatio-temporal environment impact factors at least include: environmental variables, situation variables, and ability variables that affect task execution, as well as the laws of their continuous change over time;

[0006] In the spatio-temporal environment comprehensive impact model, solve the model with the minimum cost, search in the feasible spatio-temporal domain to obtain the minimum-cost solutions for various costs, and evaluate the task effectiveness using the performance of the minimum-cost solutions.

[0007] As the method for evaluating the spatio-temporal environment impact effectiveness based on the minimum-cost planning of the present invention, further, the spatio-temporal environment comprehensive impact model is expressed as a mathematical model of the environmental variable E(T), the situation variable S(T), and the ability variable P(T) that continuously change with time T of the function.

[0008] As the method for evaluating the spatio-temporal environment impact effectiveness based on the minimum-cost planning of the present invention, further, in the effectiveness evaluation model, the sum of the spatio-temporal costs accumulated during the execution of the task plan is calculated by means of spatio-temporal cost calculus. Among them, in the spatio-temporal cost differential, the accumulation rate of the spatio-temporal cost in the local environment during the task execution process is expressed as a two-dimensional spatio-temporal vector, and the two dimensions are respectively expressed as the accumulation rate of the cost with time and the accumulation rate of the cost with spatial activities; the growth rate distribution and change law of the comprehensive spatio-temporal cost of the task are analyzed by using the accumulation rate of the cost with time and space to evaluate the activity cost within the corresponding range of the task.

[0009] As the method for evaluating the spatio-temporal environment impact effectiveness based on the minimum-cost planning of the present invention, further, the cost accumulation rate at the spatio-temporal coordinates (x, y, t) is expressed as where i 1 , i 2 ,..., i n are the parameters required for evaluation , and this parameter includes but is not limited to: parameters related to the environment, situation, ability, task type, and cost type.

[0010] As the method for evaluating the spatio-temporal environment impact effectiveness based on the minimum-cost planning of the present invention, further, the solution process of the preset cost type of a single task implementation plan is expressed as: the cost accumulation rate of this preset cost type is integrated in the spatio-temporal domain according to the task implementation plan; the spatio-temporal cost rates of multiple cost types are used to evaluate the costs of various types of all feasible plans to obtain the plan cost matrix of the task, and the minimum cost results obtained in various spatio-temporal cost types are used to evaluate the performance of the task in all aspects, and at the same time, the task implementation plan corresponding to the best performance in all aspects is obtained.

[0011] As the method for evaluating the spatio-temporal environment impact effectiveness based on the minimum-cost planning of the present invention, further, assuming that the set of task feasible plans is Solutions = {L 1 , L 2 ,..., L n ,...}, when evaluating k types of effectiveness indicators, the k cost growth rate sets are PriceRates = {w 1 , w 2 ,..., w k}, then the corresponding plan cost matrix is expressed as represents the feasible plan Ln The cost growth rate w of the k-th performance index in k The cumulative cost value.

[0012] As a method for evaluating the effectiveness of the spatio-temporal environment impact based on minimum cost planning of the present invention, further, according to the task type and domain-related planning methods, the effectiveness of the task is evaluated by evaluating the extreme values, value ranges of each cost, and effectiveness evaluation indicators such as the comprehensive minimum cost.

[0013] Further, the present invention also provides a spatio-temporal environment impact effectiveness evaluation system based on minimum cost planning, including: a model construction module and a model solving module, wherein,

[0014] The model construction module is used to construct a comprehensive spatio-temporal environment impact model for describing the continuous change of spatio-temporal environment impact factors of the task over time according to the spatio-temporal environment impact factors. Among them, the spatio-temporal environment impact factors at least include: environmental variables, situation variables, and ability variables that affect the task execution, and the laws of their continuous change over time;

[0015] The model solving module is used to solve the model with the minimum cost in the comprehensive spatio-temporal environment impact model, and use a variety of effectiveness evaluation indicators to conduct multi-angle and multi-level effectiveness evaluation of the task. Among them, the effectiveness evaluation indicators at least include: the extreme values, value ranges of each cost, and the comprehensive minimum cost..

[0016] Advantages of the present invention:

[0017] Compared with the traditional method, the environmental impact effectiveness evaluation model used in the present invention is more in line with the characteristics of a complex, changeable, and multi-factor environment, can obtain a more scientific and reasonable evaluation result of the task execution environment, realize a multi-angle and more comprehensive evaluation of the task, can form an all-round understanding of the task execution environment with points and surfaces, is more in line with the actual situation of task execution, and can evaluate the extreme performance ability, overall adaptation degree, and optimal result of the task under the influence of the environment from various angles, which is convenient for decision-makers to make more scientific and reasonable task execution strategies and has good application prospects. Description of the Drawings

[0018] Figure 1 Schematic diagram of the spatio-temporal environment impact effectiveness evaluation process based on minimum cost planning in the embodiment;

[0019] Figure 2 Schematic diagram of the spatio-temporal environment impact effectiveness evaluation model in the embodiment;

[0020] Figure 3 Schematic diagram of the principle of the spatio-temporal environment impact effectiveness evaluation algorithm in the embodiment;

[0021] Figure 4Schematic diagram of the spatio-temporal trajectories of moving objects and stationary objects in the embodiments. Specific embodiments

[0022] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and technical solutions.

[0023] An embodiment of the present invention provides a spatio-temporal environment impact effectiveness evaluation method based on minimum-cost planning. As shown in Figure 1 it includes:

[0024] S101. According to the spatio-temporal environment impact factors, construct a spatio-temporal environment comprehensive impact model for describing the continuous change of the spatio-temporal environment impact factors of the task over time. Among them, the spatio-temporal environment impact factors at least include: environmental variables, situation variables, and ability variables that affect task execution, as well as the laws of continuous change of the three over time;

[0025] S102. In the spatio-temporal environment comprehensive impact model, solve the model with the minimum cost, search in the feasible spatio-temporal domain to obtain the minimum-cost solutions of various costs, and evaluate the task effectiveness by the performance of the minimum-cost solutions.

[0026] The evaluation of task effectiveness is essentially an evaluation of the expected effects of task execution plans, which is comprehensively affected by the environment, situation, and ability, and the latter three will continuously change over time. Among the factors affecting effectiveness, the environment is the most fundamental. The environment may limit the range of choices of feasible plans and affect the execution effect of the task. Ability is also one of the main reasons affecting task effectiveness. Different task performers are restricted by their respective abilities in the environment, which will lead to significant differences in the execution effects of the same plan. However, the influence of ability cannot be discussed without considering the environment, and similarly, the influence of the environment cannot be evaluated in isolation from ability factors. The situation may not exist, but if it does, its impact on the task is huge. However, the situation does not affect the task in isolation, and its impact effect is also restricted by environmental factors and ability factors. Time is the only main line running through the changes of the environment, situation, and ability, and is the unified variable of the continuous change of the environment during task execution. In the embodiments of this case, by alternately performing local analysis and overall analysis of the spatio-temporal cost accumulation rate and iterating from low level to high level for evaluation, it is possible to evaluate the extreme performance ability, overall adaptability, and optimal results of the task under the influence of the environment from various angles. The model has high solution efficiency, is convenient for decision-makers to make more scientific and reasonable task execution strategies, and has good application prospects.

[0027] As a method for evaluating the spatio-temporal environment impact efficiency based on minimum cost planning in the embodiments of the present invention, further, the spatio-temporal environment comprehensive impact model is expressed as a mathematical model of environmental variables E(T), situation variables S(T), and ability variables P(T) that vary continuously with time T for a function.

[0028] There are many environmental factors related to each type of task, and each environmental factor can be marked as a continuous change function or a constant function environment(t) with time as the independent variable. Assume that for the tasks executed in the time period T = [t 1 , t 2 , a total of n possible environmental factors that may affect the task execution are considered. As shown in formula (1), the relevant environmental variables can be expressed as the set E(T). Similarly, the sets of relevant situation factors situation(t) and ability factors power(t) can be expressed as formulas (2) and (3) respectively. In particular, here S(T) is the original information of the known situation, and does not include the detailed inference of the situation by combining environmental factors, ability factors, and enemy task factors.

[0029] E(T) = {environment 1 (t), environment 2 (t),..., environment n (t) | t ∈ T} (1)

[0030] S(T) = {situation 1 (t), situation 2 (t),..., situation m (t) | t ∈ T} (2)

[0031] P(T) = {power 1 (t), power 2 (t),..., power k (t) | t ∈ T} (3)

[0032] If F is used to express the energy efficiency of the task under the comprehensive environmental impact, then obviously, F is a function of the environment E(T), situation S(T), and ability P(T) that vary continuously with time T. The mathematical model of F can be expressed as formula (4). Among them, for different task types, due to different preferences for risks or benefits, the evaluation methods may vary greatly, and their evaluation functions M(x, y, z) should also be different.

[0033] F = M(E(T), S(T), P(T)) (4)

[0034] Formula (4) is a summary of the effectiveness evaluation variables and dependencies. The conceptual model of the impact of the task-oriented spatio-temporal environment on effectiveness evaluation can be as follows Figure 2 shown. The environmental impact effectiveness of a task comes from the combined action of the environment, situation, and capabilities, and is a function of time T. The effectiveness evaluation methods for different tasks vary greatly and need to be analyzed specifically.

[0035] As the spatio-temporal environment impact effectiveness evaluation method based on minimum-cost planning in the embodiments of the present invention, further, in the effectiveness evaluation model, the sum of the spatio-temporal costs accumulated during the execution of the task plan is calculated by means of spatio-temporal cost calculus. Among them, in the spatio-temporal cost calculus method, the accumulation rate of spatio-temporal costs in the local environment during the task execution process is expressed as a two-dimensional spatio-temporal vector, and the two dimensions are respectively expressed as the accumulation rate of costs with time and the accumulation rate of costs with spatial activities; the growth rate distribution and variation law of the comprehensive spatio-temporal cost of the task are analyzed by using the accumulation rate of costs with time and space to evaluate the activity costs within the corresponding range of the task.

[0036] The accumulation rate of costs in the spatio-temporal domain is represented by a spatio-temporal vector, and the growth rate distribution and variation law of the comprehensive spatio-temporal cost of the task are analyzed by using the accumulation rate of costs to evaluate the activity costs within the corresponding range of the task. Among them, the accumulation rate of costs is a spatio-temporal vector, including the time accumulation rate (time component) and the space accumulation rate (space component).

[0037] As the spatio-temporal environment impact effectiveness evaluation method based on minimum-cost planning of the present invention, further, the accumulation rate of costs at the spatio-temporal coordinates (x, y, t) is expressed as where i 1 , i 2 ,..., i n are the parameters required for evaluation and this parameter includes: parameters related to the environment, situation, capabilities, task type, and cost type.

[0038] The evaluation of the environmental impact effectiveness of a mission can be achieved by evaluating the effects of implementation plans. However, different implementation plans have different costs or benefits, and the performance of a single plan can vary significantly due to the level of plan planning, and cannot represent the effectiveness of the mission. The environmental impact effectiveness should be an evaluation of the overall impact of the mission on the environment without considering the quality of the plan itself. The spatio-temporal scope of feasible plans, the performance of extreme plans and comprehensive optimal plans can, to a certain extent, represent the overall impact of the environment on the mission and can be used as indicators for evaluating environmental impact effectiveness. For example, for off-road problems, extreme problems include: when to arrive earliest, when to depart latest, etc. Such extreme problems can evaluate the limit of the mission's performance in the corresponding environment. Boundary problems are a general extension of extreme problems. For example, under the premise of being able to complete the mission, which spatio-temporal regions may be reached, the earliest arrival time and the latest departure time at each passing location, etc. These boundary problems define the spatio-temporal scope of the implementation plan and can evaluate the mission's adaptability to the environment as a whole. The optimal problem is to select the optimal plan within the above feasible range to minimize costs or maximize benefits, which is closely related to the characteristics of the mission and expresses the mission's adaptability to the environment under the best choice. Whether it is an extreme problem, a boundary problem or an optimization problem, there is a specific plan supporting each evaluation value behind each evaluation. That is to say, the process of evaluating the spatio-temporal environmental impact effectiveness of a mission is to continuously plan specific plans that can represent these extreme problems, boundary problems or optimal problems and evaluate the performance of the plans. The process of environmental effectiveness evaluation can be transformed into a process of a large number of mission plans.

[0039] As the spatio-temporal environmental impact effectiveness evaluation method based on minimum-cost planning in the embodiments of the present invention, further, the solution process of the preset cost type of a single mission implementation plan is expressed as: the cost accumulation rate of the preset cost type is integrated according to the mission implementation plan in the spatio-temporal domain; the spatio-temporal cost rates of multiple cost types are used to evaluate the costs of all feasible plans of various types to obtain the plan cost matrix of the mission, and the minimum cost results obtained from various spatio-temporal cost types are used to evaluate the performance of the mission in all aspects, and at the same time, the mission implementation plan corresponding to the best performance in all aspects is obtained.

[0040] The key to effectiveness evaluation is to scientifically quantify and express the impact of the environment on the mission. In traditional minimum-cost paths, concepts such as two-dimensional relative cost grids or friction surfaces in space are generally used to express the distribution of local environmental costs in space, and then the evaluation of the entire plan is achieved by accumulating these costs along the plan path. In the embodiments of this case, through the spatio-temporal environmental impact effectiveness evaluation framework based on minimum-cost planning, the evaluation of plan effectiveness is also achieved through cost accumulation analysis. See Figure 3As shown in the figure, it may specifically include the following content: establishing a spatio-temporal environmental impact model, by understanding the occurrence and accumulation laws of various local costs or benefits, and expressing this law as a spatio-temporal environmental comprehensive impact model that can correctly evaluate the costs of any plan; based on the spatio-temporal environmental comprehensive impact model, through searching for the minimum-cost plan, the effectiveness evaluation of the task is realized, searching in the feasible spatio-temporal domain to find the minimum-cost plan for various costs, and evaluating the effectiveness of the task through the performance of the plan.

[0041] The biggest difference from traditional related methods is that in the embodiments of this case, the analysis process of the cost of the task execution plan is not limited to space, but a spatio-temporal cost calculus process carried out in continuously changing time and space. This process is divided into a differential process for the local spatio-temporal environment and an integration process along the plan execution.

[0042] The main objective of evaluating the local spatio-temporal environment is to correctly express the occurrence speed and conditions of the "cost" (benefits can be converted into "costs" through certain methods) of the environment over time and space. This analysis process is the spatio-temporal cost differential process. Cost is an accumulative concept, that is, the total amount of cost will gradually accumulate with human activities. This accumulation process can be regarded as an analysis process of integrating costs in a continuously changing environment.

[0043] There are many types of costs, and each type of cost corresponds to one or more types of effectiveness evaluation (for example, the cost of the shortest time consumption corresponds to the shortest time path analysis and the reachable domain analysis; the cost of the comprehensive threat degree corresponds to the spatio-temporal optimal path planning method). Traditional algorithms mainly focus on the costs accumulated with spatial activities. In the embodiments of this case, it is considered that in addition, there are also types that accumulate with time, and for the cost types related to both time and space, they can be decomposed into time-related parts and space-related parts.

[0044] Time-accumulative cost: The cost whose accumulation process is only related to the length of the activity time, such as the cost of being discovered in an area prone to exposure, which is only related to the time of staying in this area;

[0045] Space-accumulative cost: The cost whose accumulation process is only related to the size of the activity space, such as the risk cost of crossing a minefield, which is only related to the distance of passing through the minefield. Among them, the concept of space has different meanings for different types of tasks. For route planning tasks, it mainly refers to the length of the route extended in space in the action plan; while for spatio-temporal location selection tasks, it mainly refers to the selected two-dimensional plane area or three-dimensional space volume.

[0046] Due to the uneven environmental distribution, the cost accumulation rates in different time and space locations are different. In the time dimension, since the passage of time is irreversible, there is no difference in the direction of the cost accumulation rate related to time; while in the space dimension, some cost accumulation rates are related to direction, such as the driving time cost affected by slope is different in each direction, and some costs are not related to direction, such as the risk cost brought by low temperature. Denote the cost accumulation rate at a certain time and space position by the spatio-temporal vector as shown in the definition formula (5). Among them, respectively represent its time accumulation rate and space accumulation rate, which may be directed variables or undirected variables according to the characteristics of different cost types. In the embodiments of this case, for the convenience of unified description form, undirected variables can be regarded as isotropic directed variables, and all are expressed by directed variable symbols.

[0047]

[0048] The evaluation purpose of the above "comprehensive cost growth rate" is not the specific "value" of the accumulation rate, but the "change law" of the cost accumulation rate. This is because The change is not only related to the environment, situation, ability and task type of the local time and space, but also related to different parameters according to different cost types, such as the historical track of off-road, driving direction, results of lower-level effectiveness analysis, etc. Let i 1 , i 2 ,..., i n be the parameters required to evaluate , then at the spatio-temporal coordinates (x, y, t), can be expressed as a function formula (6) of the spatio-temporal position and related parameters. Through the spatio-temporal coordinates, environmental, situation and ability information can be queried, and other parameters are related to the cost type and need specific analysis.

[0049]

[0050] After mastering the distribution and change law of the spatio-temporal comprehensive cost growth rate of the task, the cost of the task in local activities can be evaluated. As shown in formulas (4) and (7), taking the off-road maneuver task as an example, see Figure 4 shown, when moving along the spatio-temporal trajectory L m , the cost value at P A should be the product of the spatio-temporal comprehensive cost growth rate at P A and the spatio-temporal trajectory. Formula (7) is the embodiment of formula (4) in local time and space, which can describe the occurrence and accumulation law of local cost during the task execution process, and can also be called the differential formula of local time and space cost.

[0051]

[0052] The process of solving the overall cost of the task implementation plan can be regarded as the integral of the cost accumulation rate according to the plan in time and space. Based on the differential formula (7), the task along L m The overall spatio-temporal cost W is the integral formula (8). Figure 4 As shown, this formula is applicable to the plan moving along any spatio-temporal trajectory. Among them, on the spatio-temporal trajectory L of a stationary object s , since is always 0, it finally has only the time-accumulative cost value.

[0053]

[0054] As the spatio-temporal environment impact effectiveness evaluation method based on minimum cost planning in the embodiment of the present invention, further, assume that the set of task feasible solutions is Solutions = {L 1 , L 2 ,..., L n ,...}. When evaluating k kinds of effectiveness indicators, the set of k cost growth rates is PriceRates = {w 1 , w 2 ,..., w k}, then the corresponding solution cost matrix is expressed as represents the kth cumulative cost value of the nth feasible solution, and W wk represents the kth cumulative cost. Further, according to the task type and the domain-related planning method, the effectiveness of the task is evaluated by evaluating the extreme values, value ranges, and comprehensive minimum cost and other effectiveness evaluation indicators of each cost.

[0055] According to the evaluation needs, there can be many definitions of cost. Each cost type combined with multiple evaluation methods can evaluate multiple task effectiveness indicators. When the form of the cost is determined, through formula (8), the cumulative value of this kind of cost in any solution can be evaluated, and thus the overall cost of any solution can be evaluated. Taking off-road path planning as an example, theoretically, the set of feasible solutions contains countless solutions Solutions = {L 1 , L 2 ,..., L n ,...}. If k kinds of effectiveness indicators are evaluated, the corresponding set of k cost growth rates is PriceRates = {w 1 , w 2 ,..., w k} (where w 1 , w 2 ,..., w kSome of them may be the same because even for the same cost type, different performance metrics can be obtained by combining different evaluation methods. For each solution, k different costs can be calculated, forming the cost matrix shown in formula (9).

[0056] The essence of performance evaluation is to analyze the extreme performance, general performance, or best performance of the task through formula (9). Among them, the extreme performance can be evaluated by finding the minimum cost that each cost type can achieve in these cost matrices. For example, if the y = min(x) function is used to represent taking the minimum value, the extreme performance can be calculated according to formula (10); the general performance can be evaluated by finding the general indicators (such as value range, average value, etc.) of each cost in the matrix. For example, if the [y 1 ,y 2 = r(x) function is used to represent the value range function, the cost value range can be calculated according to formula (11); the best performance requires integrating various costs to form a unified evaluation system. If the formula y = m(x 1 ,x 2 ,...,x n ) is used to represent the function of integrating multiple types of costs, and m represents the minimum integrated cost value, the best performance can be calculated according to formula (12).

[0057]

[0058]

[0059]

[0060]

[0061] Formulas (9) to (12) illustrate the theoretical basis of the spatio-temporal environmental impact effectiveness evaluation through minimum-cost planning in the embodiments of this case. Formulas (10), (11), and (12) are all specific implementation manners of Formula (4). These three formulas can include information on the environment E(T), situation S(T), ability P(T), and task characteristics through Formula (6), and finally realize the effectiveness evaluation. In actual calculation, according to the task type, domain-related planning methods should be used to search for the minimum-cost solutions for each cost. Taking cross-country mobility as an example, compared with the traditional cross-country analysis based on the GIS method, the embodiment solution of this case can pay attention to the unified expression of the continuous change of the environment, and the evaluation result needs to reflect the impact of the continuous change of the environment; and the process of cost accumulation not only occurs in space, but also includes the cost accumulation in time, making the process of scheme planning not only carried out in space, but a spatio-temporal integrated planning. The evaluation result reflects the role of the situation and ability in the environmental evaluation, and can also reflect the effectiveness evaluation differences brought by different tasks. Secondly, the effectiveness evaluation process in the solution of this case is not completed in one step, but alternates between the local and the whole, from low-level understanding to high-level understanding, and can evaluate the extreme performance ability, overall adaptability, and optimal result of the task under the environmental impact from various angles. Using the evaluation model for solution analysis is convenient for assisting the execution of the task execution strategy and improving efficiency.

[0062] Furthermore, based on the above method, an embodiment of the present invention also provides a spatio-temporal environmental impact effectiveness evaluation system based on minimum-cost planning, including: a model construction module and a model solution module, where,

[0063] The model construction module is used to construct a spatio-temporal environment comprehensive impact model for describing the continuous change of spatio-temporal environmental impact factors of a task over time according to spatio-temporal environmental impact factors, where the spatio-temporal environmental impact factors at least include: environmental variables, situation variables, and ability variables that affect task execution, and the laws of their continuous change over time;

[0064] The model solution module is used to solve the model with the minimum cost in the spatio-temporal environment comprehensive impact model, and perform multi-angle and multi-level effectiveness evaluation on the task by using a variety of effectiveness evaluation indicators, where the effectiveness evaluation indicators at least include: the extreme value, value range of each cost, and the comprehensive minimum cost.

[0065] Unless otherwise specifically stated, the relative steps, numerical expressions, and values of the components and steps described in these embodiments do not limit the scope of the present invention.

[0066] Based on the above system, an embodiment of the present invention further provides a server, including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0067] Based on the above system, an embodiment of the present invention further provides a computer-readable medium, on which a computer program is stored, and when the program is executed by a processor, the above method is implemented.

[0068] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system and device can refer to the corresponding processes in the foregoing system embodiments, and will not be described herein again.

[0069] In all the examples shown and described here, any specific value should be construed as merely exemplary, not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0070] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0071] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, systems, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0072] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and systems can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0073] In addition, in each embodiment of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0074] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the systems described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0075] Finally, it should be noted that: the above-described embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, and are not intended to limit them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for evaluating the effectiveness of spatio-temporal environment impact based on minimum cost planning, characterized in that, it includes the following contents: According to the spatio-temporal environment impact factors, a spatio-temporal environment comprehensive impact model is constructed to describe the continuous change of the task spatio-temporal environment impact factors over time. Among them, the spatio-temporal environment impact factors at least include: environmental variables, situation variables, and ability variables that affect task execution, and the laws of their continuous change over time; the spatio-temporal environment comprehensive impact model is expressed as a mathematical model of the environmental variable E(T), situation variable S(T), and ability variable P(T) that change continuously with time T; In the comprehensive influence model of the spatio-temporal environment, the sum of the spatio-temporal costs accumulated during the execution of the task plan is calculated by means of spatio-temporal cost calculus. The model is solved with the minimum cost, and the minimum cost plan for various costs is obtained by searching within the feasible spatio-temporal domain. The task effectiveness is evaluated using the performance of the minimum cost plan. Among them, in the spatio-temporal cost calculus, the accumulation rate of the spatio-temporal cost in the local environment during the task execution process is represented as a two-dimensional spatio-temporal vector, and the two dimensions are respectively represented as the accumulation rate of the cost with time and the accumulation rate of the cost with spatial activities; the growth rate distribution and variation law of the comprehensive spatio-temporal cost of the task are analyzed using the accumulation rate of the cost with time and space to evaluate the activity cost within the corresponding range of the task; the cost accumulation rate at the spatio-temporal coordinates (x, y, t) is represented as i 1 ,i 2 ,...,i n For evaluating The parameters required, which include but are not limited to: parameters related to the environment, situation, capabilities, task type, and cost type.

2. The method for evaluating the effectiveness of spatio-temporal environment impact based on minimum cost planning according to claim 1, characterized in that, The solution process of the preset cost type of a single task implementation plan is expressed as: the cost accumulation rate of the preset cost type is integrated in the spatio-temporal domain according to the task implementation plan; The spatio-temporal cost rates of multiple cost types are used to evaluate the costs of various types of all feasible plans to obtain the plan cost matrix of the task, and the minimum cost results obtained in various spatio-temporal cost types are used to evaluate the performance of the task in all aspects, and at the same time, the task implementation plans corresponding to the best performance in all aspects are obtained.

3. The method for evaluating the effectiveness of spatio-temporal environment impact based on minimum cost planning according to claim 2, characterized in that, Suppose the set of feasible solutions for the task is Solutions = {L 1 , L 2 ,..., L n ,...}, when evaluating k kinds of effectiveness indicators, the set of k cost growth rates is PriceRates = {w 1 , w 2 ,..., w k}, then the corresponding solution cost matrix is expressed as where represents the cumulative cost value of the cost growth rate w n of the k-th effectiveness indicator in the feasible solution L k .

4. The method for evaluating the effectiveness of spatio-temporal environment impact based on minimum cost planning according to claim 3, characterized in that, According to the task type and domain-related planning methods, the effectiveness of the task is evaluated by evaluating the extreme values, value ranges, and comprehensive minimum cost and other effectiveness evaluation indicators of each cost.

5. A system for evaluating the effectiveness of spatio-temporal environment impact based on minimum cost planning, characterized in that, It is implemented based on the method described in claim 1 and includes: a model construction module and a model solution module. Among them, The model construction module is used to construct a spatio-temporal environment comprehensive impact model according to the spatio-temporal environment impact factors to describe the continuous change of the task spatio-temporal environment impact factors over time. Among them, the spatio-temporal environment impact factors at least include: environmental variables, situation variables, and ability variables that affect task execution, and the laws of their continuous change over time; The model solution module is used to solve the model with the minimum cost in the spatio-temporal environment comprehensive impact model, and use multiple effectiveness evaluation indicators to conduct multi-angle and multi-level effectiveness evaluation of the task. Among them, the effectiveness evaluation indicators at least include: The extreme value, value range of each cost, and the comprehensive minimum cost.

6. A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the steps of the method described in any one of claims 1 to 4.

7. A computer device includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the steps of the method described in any one of claims 1 to 4.

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