Fading Expert Guidance: Bridging Model-Based and Learning-Based Control for Abortable Autonomous Overtaking
The research introduced a framework integrating an expert system with Deep Reinforcement Learning (DRL) for autonomous vehicle overtaking. A fading function gradually reduces expert guidance influence, allowing the DRL agent to learn quickly and then surpass the expert's performance. This method improves sample efficiency and driving safety during complex overtaking maneuvers.