Autonomous vehicles are a growing technology that aims to enhance safety, accessibility, efficiency, and convenience through autonomous maneuvers ranging from lane change to overtaking. Overtaking is one of the most challenging maneuvers for autonomous vehicles, and current techniques for autonomous overtaking are limited to simple situations. This paper studies how to increase safety in autonomous overtaking by allowing the maneuver to be aborted. We propose a decision-making process based on a deep Q-Network to determine if and when the overtaking maneuver needs to be aborted. The proposed algorithm is empirically evaluated in simulation with varying traffic situations, indicating that the proposed method improves safety during overtaking maneuvers. Furthermore, the approach is demonstrated in real-world experiments using the autonomous shuttle iseAuto.

翻译：自动驾驶车辆是一种新兴技术，旨在通过从车道变更到超车等自主操作来提升安全性、可达性、效率和便利性。超车是自动驾驶车辆最具挑战性的操作之一，而当前的自主超车技术仅适用于简单场景。本文研究了如何通过允许超车操作被中止来提升自动驾驶超车的安全性。我们提出了一种基于深度Q网络的决策过程，用于判断超车操作是否需要中止以及何时中止。所提出的算法在模拟不同交通场景中进行了实证评估，结果表明该方法能够提升超车过程中的安全性。此外，该方法在真实世界实验中通过自主穿梭车iseAuto进行了验证。