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This paper introduces a method to extract driving behaviors from a human expert driver which are applied to an autonomous agent to reproduce proactive driving behaviors. Deep learning techniques were used to extract latent features from the collected data. Extracted features were clustered into behaviors and used to create velocity profiles allowing an autonomous driving agent could drive in a human-like manner. By using proactive driving behaviors, the agent could limit potential sources ofdoi:10.1109/tvt.2020.2980197 fatcat:u3zlhuxkbzgrvogec23evfy22i