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A key research area in autonomous driving is how to model the driver's decision-making behavior, due to the fact it is significant for a self-driving vehicles considering their traffic safety and efficiency. However, the uncertain characteristics of vehicle and pedestrian trajectories affect urban roads, which poses severe challenges to the cognitive understanding and decision-making of autonomous vehicle systems in terms of accuracy and robustness. To overcome the abovementioned problems, this paper proposes a Bayesian driver agent (B
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