This invention discloses a computer-based method for evaluating the complexity of the
working environment of unmanned
ground vehicles (UGVs). First, it determines environmental complexity evaluation indicators and establishes an evaluation indicator
system. Then, it acquires and normalizes multi-source
environmental data using onboard sensors and a
deep learning model. Next, it determines the weights of static environmental indicators using the
Analytic Hierarchy Process (AHP) and calculates the static environmental
complexity index using a nonlinear mapping function. Simultaneously, it establishes a
potential energy function incorporating distance, speed, and predicted collision time, calculating the total environmental
potential energy to output the dynamic environmental
complexity index. For the
state evolution complexity evaluation indicator, it constructs a
state evolution complexity quantification model based on state change entropy, outputting the
state evolution complexity index. Finally, it outputs the
working environment complexity index by establishing a multi-dimensional coupled complexity model. This invention achieves real-time quantification and evaluation of
working environment complexity, providing reliable data for autonomous decision-making, path planning, and
safety control of UGVs.