面向车辆通过性的地理因子分析与应用

全地形环境感知系统是研究车辆自主能力的重要部分，也是车辆安全行驶的绝对基础，而车辆的可通行区域分析则是环境感知系统中不可缺少的一步。本文分析了全地形环境下可能对装备车辆的地面通行性产生影响的众多地理环境因素，并结合多类型的地理环境因素，对包含地面坡度、植被、水系和建筑物等因素在内的，能够反映地面可通行性的车辆可通行区域以及装备车辆的可行驶区域进行规划。依托 ArcGIS平台和C++编程语言，对ArcGIS进行了二次开发，建立了一套针对全地形复杂环境下的路面可通行区域分析模型。该模型可以根据装备车辆的不同参数实现地理因子影响系数的设定，满足不同条件下车辆的可通行区域规划。

Geographical factor analysis and application for vehicle trafficability

The all-terrain environment awareness system is an important part of the study on vehicle autonomy, and also an absolute foundation of vehicle safe driving. The analysis of vehicle trafficable area is an indispensable step in the environment awareness system. This paper analyzes many geographical environment factors that may affect the ground trafficability of equipment vehicles in all-terrain environment. Combined with various types of geographical environment factors, this paper plans a vehicle trafficable area which includes ground slope, vegetation, water system, buildings and other factors to reflect the ground trafficability, and regulates the trafficable area of equipment vehicles. Based on ArcGIS platform and C++ programming language, ArcGIS is redeveloped to establish a set of analysis model for the passable area of the road under the complex terrain environment. According to the different parameters of the equipment vehicle, the influence coefficient of geographical factors can be set to meet the trafficable area planning of vehicles under different conditions.