System Design - Ego Behavior Prediction Model

Design an ego behavior prediction model for autonomous vehicles. The model should consider the following aspects: Input and output parameters: Inputs may include real-time sensor data from the vehicle, such as speed, direction, and position. Outputs should be the vehicle's future behavior or path. Uncertainty quantification: How to quantify and represent uncertainty in the prediction. Suggestions for downstream modules: Factors to consider in the model design, providing effective output for downstream modules such as path planning or decision systems. Please describe the design of the model in detail and provide possible techniques or algorithms that could be used.