As one of the core functions of the autonomous driving of vehicles under special roads, the intelligent barrier avoidance function plays an important role in improving traffic efficiency and ensuring driving safety. Scientific, reasonable, and comprehensive evaluation methods can provide the basis for intelligent vehicles before their use. The comprehensive evaluation index system is constructed for the avoidance ability and avoidance mode of intelligent vehicles against different barriers. The weights of qualitative indicators that are difficult to quantify are determined based on the order relation analysis (G1) method, and the weights of quantitative indicators are determined based on the CRITIC (criteria importance though intercriteria correlation) method. The overall system is comprehensively and quantitatively evaluated through the grey correlation degree method. The correctness of the evaluation method is verified via testing. According to the comprehensive evaluation method studied, the comprehensive evaluation result of the test vehicle is obtained. The intelligent barrier avoidance function of negative barriers is superior to that of positive barriers. The integrated evaluation method can obtain evaluation results of vehicle performance in different test scenarios.