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Despite recent advances in and many potential benefits of autonomous vehicles (AVs), there still remain several challenges until wide-scale adoption. The largest gap is in trust, where both passengers and proximal road users need to feel comfortable using and sharing the road with AVs. To bridge this gap, both prediction and planning algorithms need to include high fidelity driver models. This will help AVs to integrate better in mixed roadways and behave in a manner that conforms to the expectations of human stakeholders, helping to improve trust and acceptance.