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. Based on the definitions of courtesy and confidence , we explore the influences of such factors on the behaviors of AVs in interactive driving scenarios  .
After 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, and their confidence regarding the prediction uncertainties. We first propose the definitions for courtesy and confidence , we explore the influences of such factors on the behaviors of AVs in interactive driving scenarios .