Before revision:  We demonstrate the effectiveness of the proposed data-driven hierarchical control framework in  simulations and experiments on a 1/10 scale autonomous car platform where the strategy-guided approach outperforms a model predictive control baseline in both cases.
After revision:  We demonstrate the effectiveness of the proposed data-driven hierarchical control framework in a two-car collision avoidance scenario through simulations and experiments on a 1/10 scale autonomous car platform where the strategy-guided approach outperforms a model predictive control baseline in both cases.