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A Safety-Enhanced Reinforcement Learning-Based Decision-Making and Motion Planning Method for Left-Turning at Unsignalized Intersections for Automated Vehicles

Lei Zhang 0053, Shuhui Cheng, Zhenpo Wang, Jizheng Liu, Mingqiang Wang. A Safety-Enhanced Reinforcement Learning-Based Decision-Making and Motion Planning Method for Left-Turning at Unsignalized Intersections for Automated Vehicles. IEEE T. Vehicular Technology, 73(11):16375-16388, November 2024. [doi]

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