@article{earlylanechangepredictionforautomated,
  title = {Early Lane Change Prediction for Automated Driving Systems Using Multi-Task Attention-based Convolutional Neural Networks},
  author = {Sajjad Mozaffari and Eduardo Arnold and Mehrdad Dianati and Saber Fallah},
  year = {2021},
  eprint = {2109.10742},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.10742v2},
}