 To contend with an uncertain, interactive environment with many traffic participants, the robot vehicle has to perform long-term planning in order to drive effectively and approach human-level performance.
<clarity>  To contend with an uncertain, interactive environment with many traffic participants, the robot vehicle has to perform long-term planning in order to drive effectively and approach human-level performance.
 To contend with an uncertain, interactive environment with heterogeneous traffic of cars, motorcycles, buses, ..., the robot vehicle has to perform long-term planning in order to drive effectively and approach human-level performance.