An autonomous vehicle agent performs the tactical
decisions to achieve long- or short-term goals.
For example, as Figure 3 shows, if Vehicle
Agent 43 must take the right turn at the next
intersection to follow its assigned route, it must
change to the right lane. Thus, it must consider
the direct leader and follower and the presumed
follower and leader on the target lane,
identified by IDs V-22, V-76, V-13, and UV-1,
respectively.