US Patent 10429842 Providing user assistance in a vehicle based on traffic behavior models

Autonomous driving includes evaluating information about an environment surrounding a vehicle, generating, based on the evaluation of the information about the environment surrounding the vehicle, a driving plan for performing a driving maneuver, and operating vehicle systems in the vehicle to perform the driving maneuver according to the driving plan. The autonomous driving further includes receiving a traffic behavior model that describes a predominating driving behavior of a like population of reference vehicles. Under the driving plan, a driving behavior of the vehicle matches the predominating driving behavior of the like population of reference vehicles.