The US army along with NATO member and partner nations’ militaries need an accurate software tool for predicting ground vehicle mobility (such as speed-made-good and fuel-consumption) on world-wide terrains where military vehicles may be required to operate. Currently, the NATO Reference Mobility Model (NRMM) is the only NATO recognized tool for assessing ground vehicle mobility. NRMM was developed from the 1960s to the 1980s and relies on steady-state empirical formulas which may not be accurate for new military ground vehicles. A NATO research task group (RTG-248) was established from 2016 to 2018 to develop the NG-NRMM (next-generation NRMM) software tool requirements and an NG-NRMM prototype which uses high-fidelity “simple” or “complex” terramechanics models for the terrain/soil along with modern 3D multibody dynamics software tools for modeling the vehicle. NG-NRMM Complex Terramechanics (CT) models are those that utilize full 3D soil models capable of predicting the 3D soil reaction forces on the vehicle surfaces (including tires, tracks, legs, and under body) and the 3D flow and deformation of the soil including both elastic and plastic deformation under any 3D loading condition. In Part 1 of this paper, an overview of the full spectrum of terramechanics models from the highest fidelity to the lowest fidelity is presented along with a literature review of CT ground vehicle mobility models.

美国军队以及北约成员国和伙伴国家的军队需要一种准确的软件工具来预测可能需要军用车辆运行的全球地形上的地面车辆机动性（例如速度和燃料消耗）。目前，北约参考机动性模型 (NRMM) 是北约唯一认可的评估地面车辆机动性的工具。NRMM 是从 1960 年代到 1980 年代发展起来的，它依赖于稳态经验公式，这对于新的军用地面车辆可能不准确。北约研究任务组 (RTG-248) 于 2016 年至 2018 年成立，以开发 NG-NRMM（下一代 NRMM）软件工具要求和使用高保真“简单”或“复杂”地形力学的 NG-NRMM 原型地形/土壤模型以及用于车辆建模的现代 3D 多体动力学软件工具。NG-NRMM 复杂地形力学 (CT) 模型是利用全 3D 土壤模型的模型，能够预测车辆表面（包括轮胎、履带、腿部和车身下方）上的 3D 土壤反作用力以及土壤的 3D 流动和变形包括在任何 3D 加载条件下的弹性和塑性变形。在本文的第 1 部分中，