Table 3.

State, observation and action variables in the POMDP for Scenario 2.

Variable name	Symbol	Values	Type
States
Gaze	I	Off-road (0), on road (1)	Discrete
Left bound crossed	Cl	Yes (1), no (0)	Discrete
Right bound crossed	Cr	Yes (1), no (0)	Discrete
Ego kinematics	s ego	x, y, θ, δ, v, a, w	Continuous
Observations
Gaze observation	o I	Off road (0), on road (1)	Discrete
Left bound crossed observation	o Cl	Yes (1), no (0)	Discrete
Right bound crossed observation	o Cr	Yes (1), no (0)	Discrete
Ego kinematics observation	o ego	x, y, θ, δ, v, a, w	Continuous
Action
Ego kinematic control	a control	Acceleration (a), steering rate (w)	Continuous
Gaze action	a I	Off road (0), on road (1)	Discrete