@inproceedings{7c8f898ec6c74694a4fadc24417d34d0,
title = "Neurobiologically-inspired soft switching control of autonomous vehicles",
abstract = "A novel soft switching control approach is presented in this paper for autonomous vehicles by using a new functional model for Basal Ganglia (BG). In the proposed approach, a family of fundamental controllers is treated as each of a set of basic controllers are thought of as an 'action' which may be selected by the BG in a soft switching regime for real-time control of autonomous vehicle systems. Three controllers, i.e., conventional Proportional-Integral-Derivative (PID) controller, a PID structure-based pole-zero placement controller, and a pole only placement controller are used in this paper to support the proposed soft switching control strategy. To demonstrate the effectiveness of the proposed soft switching approach for nonlinear autonomous vehicle control (AVC), the throttle, brake and steering subsystems are focused on in this paper because they are three key subsystems in the whole AVC system. Simulation results are provided to illustrate the performance and effectiveness of the proposed soft switching control approach by applying it to the abovementioned subsystems.",
keywords = "action selection, autonomous vehicles, basal ganglia, multiple controller systems, neurobiologically- inspired systems, switching control",
author = "Erfu Yang and Amir Hussain and Kevin Gurney",
year = "2012",
month = jun,
day = "28",
doi = "10.1007/978-3-642-31561-9_9",
language = "English",
isbn = "9783642315602",
series = "Lecture Notes in Computer Science",
publisher = "Springer Berlin Heidelberg",
pages = "82--91",
editor = "Huaguang Zhang and Amir Hussain and Derong Liu and Zhanshan Wang",
booktitle = "Advances in Brain Inspired Cognitive Systems",
note = "5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012 ; Conference date: 11-07-2012 Through 14-07-2012",
}