@article{safereinforcementlearningforautonomous,
  title = {Safe Reinforcement Learning for Autonomous Vehicles through Parallel Constrained Policy Optimization},
  author = {Lu Wen and Jingliang Duan and Shengbo Eben Li and Shaobing Xu and Huei Peng},
  year = {2020},
  eprint = {2003.01303},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2003.01303v1},
}