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In order to drive safely and efficiently on public roads, autonomous vehicles will have to understand the intentions of surrounding vehicles, and adapt their own behavior accordingly. If experienced human drivers are generally good at inferring other vehicles' motion up to a few seconds in the future, most current Advanced Driving Assistance Systems (ADAS) are unable to perform such medium-term forecasts, and are usually limited to high-likelihood situations such as emergency braking. In thisdoi:10.1109/itsc.2017.8317913 dblp:conf/itsc/AltcheF17 fatcat:m36bx3wnpfg2bde6ncrdjm5hby