ICS35.240.01 CCSL70T/CICC 中国指挥与控制学会团体标准 T/CICC02002—2025 无人系统协同感知、决策与控制 总体架构 Collaborativeawareness,decision-making,andcontrolforunmanned systems－Overallarchitecture 2025-09-29发布 中国指挥与控制学2025-09-29实施 会 发布 全国团体标准信息平台 全国团体标准信息平台 T/CICC02002—2025 I目次 前言................................................................................III 1范围................................................................................1 2规范性引用文件......................................................................1 3术语和定义..........................................................................1 4总体要求............................................................................1 4.1自主性要求......................................................................1 4.2智能性要求......................................................................1 4.3协同性要求......................................................................2 4.4可靠性要求......................................................................2 4.5安全性要求......................................................................2 5无人系统协同感知、决策与控制总体架构................................................3 5.1构成要素........................................................................3 5.2总体架构和功能要求..............................................................3 5.3态势感知........................................................................4 5.3.1核心模块..................................................................4 5.3.2态势觉察..................................................................4 5.3.3态势理解..................................................................4 5.3.4态势预测..................................................................5 5.4智能决策........................................................................5 5.4.1核心模块..................................................................5 5.4.2任务解析..................................................................5 5.4.3规划调度..................................................................5 5.4.4重规划....................................................................6 5.5自主规划........................................................................6 5.5.1核心模块..................................................................6 5.5.2规划建模..................................................................6 5.5.3路径规划..................................................................6 5.5.4轨迹规划..................................................................6 5.5.5轨迹协调与冲突消解........................................................7 5.5.6运行监控与重规划..........................................................7 5.6运动控制........................................................................7 5.6.1核心模块..................................................................7 5.6.2标称控制..................................................................7 5.6.3抗不确定性增强控制........................................................7 5.6.4安全控制..................................................................8 5.7效能评估........................................................................8 5.7.1核心模块..................................................................8 5.7.2态势感知效能评估..........................................................8 全国团体标准信息平台 T/CICC02002—2025 II5.7.3智能决策效能评估..........................................................8 5.7.4自主规划效能评估..........................................................9 5.7.5运动控制效能评估..........................................................9 5.8验证测试........................................................................9 5.8.1核心模块..................................................................9 5.8.2数字仿真..................................................................9 5.8.3半实物仿真测试...........................................................10 5.8.4实物测试.................................................................10 全国团体标准信息平台 T/CICC02002—2025 III前  言 本文件按照GB/T1.1-2020《标准化工作导则第1部分：标准化文件的结构和起草规则》的规定编 写。 请注意本文件的某些内容可能涉及专利。本文件的发布机构不承担识别专利的责任。 本文件由中国指挥与控制学会提出。 本文件由