This paper shows that separately training a strategic lane and speed planner and a low-level vehicle controller enables a highway-driving agent to overtake slow vehicles and earn higher long-term reward than a single-level reinforcement learning baseline.
Deep reinforcement learning for autonomous driving: A survey
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Extensive Exploration in Complex Traffic Scenarios using Hierarchical Reinforcement Learning
This paper shows that separately training a strategic lane and speed planner and a low-level vehicle controller enables a highway-driving agent to overtake slow vehicles and earn higher long-term reward than a single-level reinforcement learning baseline.