Neurobiologically-inspired soft switching control of autonomous vehicles

Erfu Yang, Amir Hussain, Kevin Gurney

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

4 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAdvances in Brain Inspired Cognitive Systems
Subtitle of host publication5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings
EditorsHuaguang Zhang, Amir Hussain, Derong Liu, Zhanshan Wang
Place of PublicationBerlin
Pages82-91
Number of pages10
DOIs
Publication statusPublished - 28 Jun 2012
Event5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012 - Shenyang, China
Duration: 11 Jul 201214 Jul 2012

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Berlin Heidelberg
Volume7366
ISSN (Print)0302-9743

Conference

Conference5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012
CountryChina
CityShenyang
Period11/07/1214/07/12

Keywords

  • action selection
  • autonomous vehicles
  • basal ganglia
  • multiple controller systems
  • neurobiologically- inspired systems
  • switching control

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  • Cite this

    Yang, E., Hussain, A., & Gurney, K. (2012). Neurobiologically-inspired soft switching control of autonomous vehicles. In H. Zhang, A. Hussain, D. Liu, & Z. Wang (Eds.), Advances in Brain Inspired Cognitive Systems: 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings (pp. 82-91). (Lecture Notes in Computer Science; Vol. 7366).. https://doi.org/10.1007/978-3-642-31561-9_9