705483.fig.0017a
(a)
705483.fig.0017b
(b)
Figure 17: A pictorial representation of the “frequency-based grouping” process for the cruise mode controller shown in Figure 12. The first step of the process, as shown in (a), is to compare each neuron’s time constant with determined relative threshold of 9.0 units, followed by grouping the neurons in the architecture based on the frequency of the output produced by individual neuron (i.e., the neurons with time constant less than the relative threshold are clustered into high frequency group and neurons with time constants more than the relative threshold are clustered into low frequency group) as shown in (b).