In　the　areas　of　aerospace　and　military　industry,　wheeled　vehicles　are　expected　to　have　the　ability　of　passing　various　ground　surfaces,　including　lunar　soil,　sand,　marsh,　mud　flat,　etc.　This　makes　vehicle　trafficability　on　soft　ground　become　a　very　hot　research　topic.　There　are　very　a　few　difficulties　in　the　present　research　of　vehicle　trafficability　on　soft　ground,　such　as　obtaining　wheel-ground　interaction　information,　inaccurate　identification　of　soil　mechanical　characteristics　parameters,　and　single　evaluation　index.　In　this　paper,　a　novel　approach　of　evaluating　the　vehicle　trafficability　on　soft　ground　using　wheel　force　information　is　proposed.　As　parts　of　the　proposed　approach,　the　methods　of　obtaining　wheel　force　information,　identification　of　soil　mechanical　characteristics　parameters　and　integated　method　of　trafficability　evaluation,　are　discussed　in　detail.　The　proposed　approach　was　validated　through　a　practical　test.