@article{hierarchicalendtoendautonomousdriving,
  title = {Hierarchical End-to-End Autonomous Driving: Integrating BEV Perception with Deep Reinforcement Learning},
  author = {Siyi Lu and Lei He and Shengbo Eben Li and Yugong Luo and Jianqiang Wang and Keqiang Li},
  year = {2024},
  eprint = {2409.17659},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2409.17659v1},
}