Unmanned vehicle group construction and evaluation method in closed scene

The invention relates to an unmanned vehicle group construction and evaluation method in a closed scene, and provides an unmanned vehicle group construction method based on vehicle group node joining, leaving and leading node replacement on the basis of research on an unmanned node operation state and node initialization. In addition, vehicle group quality evaluation indexes including a reference degree, a leading node change rate, algorithm operation time and the like are researched, so that the unmanned vehicle does not need to be subjected to path planning and a background control terminal in advance in a closed scene, and the node motion behavior intelligence of the unmanned vehicle can be effectively kept. According to the technical scheme provided by the invention, the method specifically comprises the following steps: 1, related definition; 2, constructing an unmanned vehicle group; 3, a vehicle group quality evaluation method. The invention aims at disclosing an intelligent method capable of guarantee