Driving environment situation evaluation method and evaluation device under unstructured road condition

The invention discloses a driving environment situation evaluation method under an unstructured road condition, and a corresponding evaluation device. The method comprises the following steps: S1, acquiring driving environment factor information, wherein the driving environment factor information comprises driving environment threat factor information and task attraction factor information; S2, establishing a quantitative driving environment element situation model by adopting a potential energy field and speed field method; and S3, evaluating the driving environment situation, the driving environment threat situation model reflects the threat of the driving environment threat factors to the vehicle through a driving environment threat situation field Up, and Up = Upf + Upv (1).