@article{asafehierarchicalplanningframeworkfor,
  title = {A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learning},
  author = {Jinning Li and Liting Sun and Jianyu Chen and Masayoshi Tomizuka and Wei Zhan},
  year = {2021},
  eprint = {2101.06778},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2101.06778v2},
}