针对无人驾驶车辆客观量化评价困难的问题，提出基于混沌理论的无人驾驶车辆行驶轨迹的量化分析方法。应用五次多项式方法结合优秀驾驶员驾驶车辆行驶的初始状态和目标状态设计无人驾驶车辆的理想轨迹，计算实际行驶轨迹与理想轨迹的偏差得到偏差时间数据序列；采用混沌理论的C-C方法对偏差时间数据序列重构相空间；计算偏差时间数据序列的Lyapunov指数，实现无人驾驶车辆行驶轨迹的量化表示。运用提出的方法对无人驾驶车辆避障换道的行驶轨迹偏差时间数据序列进行相空间重构，计算其Lyapunov指数为正值，表征人驾驶车辆系统的混沌性，还表征人驾驶车辆收敛到稳态响应的快慢程度。试验表明基于混沌理论的无人驾驶车辆行驶轨迹的量化分析是可行的，有效的。
孙扬
,
熊光明
,
陈慧岩
,
姜岩
,
龚建伟
. 基于混沌理论的无人驾驶车辆行驶轨迹量化分析[J]. 机械工程学报, 2016
, 52(2)
: 127
-133
.
DOI: 10.3901/JME.2016.02.127
The quantitative evaluation of unmanned ground vehicles is difficult. For this problem a quantitative analysis method based on chaos theory is proposed. The ideal trajectory of unmanned ground vehicles is designed applying the five order polynomial method, and the deviation time series are obtained by calculating the deviation of the actual trajectory and the ideal trajectory. Then the phase space of the deviation time series is reconstructed based on C-C method. The Lyapunov exponent of the deviation time series is calculated which the quantitative presentation of unmanned ground vehicles trajectory is. The quantitative presentation of unmanned ground vehicles trajectory of obstacle avoidance is achieved. The phase space of the deviation time series of obstacle avoidance is reconstructed. The Lyapunov exponent of obstacle avoidance is positive which is characterized the chaos of the unmanned ground vehicle and the speed of convergence to the steady state. Experimental results show that the quantitative analysis method based on chaos theory for unmanned ground vehicles trajectory is feasible and effective.
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