# Safe-State Enhancement Method for Autonomous Driving via Direct Hierarchical Reinforcement Learning

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2023) · cited 42× · AI/ML

**Wikidata**: [openalex:W4375796951](https://www.wikidata.org/wiki/openalex:W4375796951)  
**Source**: https://4ort.xyz/entity/safe-state-enhancement-method-for-autonomous-driving-via-direct-hierarchical-reinforcement-learning