Autonomous Overtaking Decision Making of Driverless Bus Based on Deep Q-learning Method

The autonomous overtaking maneuver is a valuable technology in unmanned vehicle field. However, overtaking is always perplexed by its security and time cost. Now, an autonomous overtaking decision making method based on deep Q-learning network is proposed in this paper, which employs a deep neural network(DNN) to learn Q function from action chosen to state transition. Based on the trained DNN, appropriate action is adopted in different environments for higher reward state. A series of experiments are performed to verify the effectiveness and robustness of our proposed approach for overtaking decision making based on deep Q-learning method. The results support that our approach achieves better security and lower time cost compared with traditional reinforcement learning methods.