Before revision:  In this paper, we propose an  integrated prediction and planning framework that allows the AVs to online infer the characteristics of other road users  and generate behaviors optimizing not only their own rewards, but also their courtesy to others, as well as their confidence on the consequences in the presence of uncertainties.
After revision:  In this paper, we propose an integrated prediction and planning (UAPP) framework. It allows the AVs to online infer the characteristics of other road users and generate behaviors optimizing not only their own rewards, but also their courtesy to others, as well as their confidence on the consequences in the presence of uncertainties.