@article{p4pconflictawaremotionpredictionfor,
  title = {P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving},
  author = {Qiao Sun and Xin Huang and Brian C. Williams and Hang Zhao},
  year = {2022},
  eprint = {2211.01634},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2211.01634v1},
}