@article{safetrajectoryplanningusingreinforcement,
  title = {Safe Trajectory Planning Using Reinforcement Learning for Self Driving},
  author = {Josiah Coad and Zhiqian Qiao and John M. Dolan},
  year = {2020},
  eprint = {2011.04702},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2011.04702v1},
}