@article{dualadduallayerplanningforreasoningin,
  title = {DualAD: Dual-Layer Planning for Reasoning in Autonomous Driving},
  author = {Dingrui Wang and Marc Kaufeld and Johannes Betz},
  year = {2024},
  eprint = {2409.18053},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2409.18053v3},
}