16. Schorr J, Hamdar SH, Silverstein C (2017) Measuring the safety impact of road
infrastructure systems on driver behavior: vehicle instrumentation and real world driving
experiment. J Intell Transp Syst 21(5):364–374
17. Shalev-Shwartz S, Shammah S, Shashua A (2016) Safe, multi-agent, reinforcement learning
for autonomous driving. arXiv preprint arXiv:1610.03295
18. Toledo T (2007) Driving behaviour: models and challenges. Transp Rev 27(1):65–84
19. Wang J, Wu J, Li Y (2015) The driving safety field based on driver–vehicle–road
interactions. IEEE Trans Intell Transp Syst 16(4):2203–2214
20. Wang J, Zhang Q, Zhao D et al (2019) Lane change decision-making through deep
reinforcement learning with rule-based constraints. arXiv preprint arXiv:1904.00231
Coordinated Learning for Lane Changing Based on Coordination …
607
infrastructure systems on driver behavior: vehicle instrumentation and real world driving
experiment. J Intell Transp Syst 21(5):364–374
17. Shalev-Shwartz S, Shammah S, Shashua A (2016) Safe, multi-agent, reinforcement learning
for autonomous driving. arXiv preprint arXiv:1610.03295
18. Toledo T (2007) Driving behaviour: models and challenges. Transp Rev 27(1):65–84
19. Wang J, Wu J, Li Y (2015) The driving safety field based on driver–vehicle–road
interactions. IEEE Trans Intell Transp Syst 16(4):2203–2214
20. Wang J, Zhang Q, Zhao D et al (2019) Lane change decision-making through deep
reinforcement learning with rule-based constraints. arXiv preprint arXiv:1904.00231
Coordinated Learning for Lane Changing Based on Coordination …
607