# Safe and Stable RL (S<sup>2</sup>RL) Driving Policies Using Control Barrier and Control Lyapunov Functions

> Research article (IEEE Transactions on Intelligent Vehicles, 2022) · cited 29× · AI/ML

**Wikidata**: [openalex:W4226534167](https://www.wikidata.org/wiki/openalex:W4226534167)  
**Source**: https://4ort.xyz/entity/safe-and-stable-rl-s-sup-2-sup-rl-driving-policies-using-control-barrier-and-control-lyapunov-functions