@ARTICLE{feng2023nledm,
  author={Yuchao Feng and Wei Hua and Yuxiang Sun},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={NLE-DM: Natural-Language Explanations for Decision Making of Autonomous Driving Based on Semantic Scene Understanding}, 
  year={2023},
  volume={24},
  number={9},
  pages={9780-9791},
  doi={10.1109/TITS.2023.3273547}}