Multi-vehicle Cooperative Decision-making in Mixed Traffic Environments via Hierarchical Game and Proximal Policy Optimization
FANG Shi-yu, XU Cheng-kai, QIN Cheng, CUI Yi-ming, HANG Peng, SUN Jian
China Journal of Highway and Transport . 2026, (3): 161 -176 .  DOI: 10.19721/j.cnki.1001-7372.2026.03.012

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