# A Deep Reinforcement Learning Approach for Long-term Short-term Planning on Frenet Frame

> Research article (2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021) · cited 18× · AI/ML

**Wikidata**: [openalex:W3204174732](https://www.wikidata.org/wiki/openalex:W3204174732)  
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