L. Waymo, 2018 disengagement report, DMV, Tech. Rep, 1440.

S. Ulbrich and M. Maurer, Probabilistic online POMDP decision making for lane changes in fully automated driving, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013, pp.2063-2067, 2013.

S. Brechtel, T. Gindele, and R. Dillmann, Probabilistic decisionmaking under uncertainty for autonomous driving using continuous POMDPs, 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp.392-399, 2014.

W. Liu, S. W. Kim, S. Pendleton, and M. H. Ang, Situation-aware decision making for autonomous driving on urban road using online POMDP, 2015 IEEE Intelligent Vehicles Symposium (IV), pp.1126-1133, 2015.

T. Bandyopadhyay, K. S. Won, and E. Frazzoli, Intention-aware motion planning, Algorithmic Foundations of Robotics X, pp.475-491, 2013.

C. Hubmann, J. Schulz, and M. Becker, Automated driving in uncertain environments: Planning with interaction and uncertain maneuver prediction, IEEE Transactions on Intelligent Vehicles, vol.3, issue.1, pp.5-17, 2018.

Z. N. Sunberg, C. J. Ho, and M. J. Kochenderfer, The value of inferring the internal state of traffic participants for autonomous freeway driving, 2017 American Control Conference (ACC, pp.3004-3010, 2017.

M. Bouton, A. Cosgun, and M. J. Kochenderfer, Belief state planning for autonomously navigating urban intersections, 2017 IEEE Intelligent Vehicles Symposium (IV), pp.825-830, 2017.

D. Silver and J. Veness, Monte-Carlo Planning in Large POMDPs, Advances in Neural Information Processing Systems, vol.23, pp.2164-2172, 2010.

A. Kesting, M. Treiber, and D. Helbing, Enhanced intelligent driver model to access the impact of driving strategies on traffic capacity, Philosophical Transactions of the Royal Society of London A: Mathematical, Physical and Engineering Sciences, vol.368, pp.4585-4605, 1928.

, General lane-changing model mobil for car-following models, Transportation Research Record, vol.1999, issue.1, pp.86-94, 2007.

D. Sierra-gonzález, V. Romero-cano, J. Steeve-dibangoye, and C. Laugier, Interaction-Aware Driver Maneuver Inference in Highways Using Realistic Driver Models, Proceedings of the 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC 2017), 2017.

D. Sierra-gonzález, Ö. Erkent, and V. Romero-cano, Modeling Driver Behavior From Demonstrations in Dynamic Environments Using Spatiotemporal Lattices, ICRA 2018 -Proceedings of the 2018 IEEE International Conference on Robotics and Automation, pp.3384-3390, 2018.

Z. N. Sunberg and M. J. Kochenderfer, Online algorithms for POMDPs with continuous state, action, and observation spaces, International Conference on Automated Planning and Scheduling (ICAPS), 2018.

L. Kocsis and C. Szepesvári, Bandit based monte-carlo planning, Machine Learning: ECML 2006, pp.282-293, 2006.

M. Garzón and A. Spalanzani, An hybrid simulation tool for autonomous cars in very high traffic scenarios, ICARCV 2018 -15th International Conference on Control, Automation, Robotics and Vision, pp.1-6, 2018.

D. Krajzewicz, J. Erdmann, M. Behrisch, and L. Bieker, Recent development and applications of SUMO -Simulation of Urban MObility, International Journal On Advances in Systems and Measurements, vol.5, issue.3&4, pp.128-138, 2012.