@article{bai2019deep,
  title={Deep Reinforcement Learning Based High-level Driving Behavior Decision-making Model in Heterogeneous Traffic},
  author={Bai, Zhengwei and Cai, Baigen and Shangguan, Wei and Chai, Linguo},
  journal={arXiv preprint arXiv:1902.05772},
  year={2019}
}