Not yet reviewed by Pith; the record is open.

Lane change (LC) is one of the safety-critical manoeuvres in highway driving according to various road accident records. Thus, reliably predicting such manoeuvre in advance is critical for the safe and comfortable operation of automated driving systems. The majority of previous studies rely on detecting a manoeuvre that has been already started, rather than predicting the manoeuvre in advance. Furthermore, most of the previous works do not estimate the key timings of the manoeuvre (e.g., crossing time), which can actually yield more useful information for the decision making in the ego vehicle. To address these shortcomings, this paper proposes a novel multi-task model to simultaneously estimate the likelihood of LC manoeuvres and the time-to-lane-change (TTLC). In both tasks, an attention-based convolutional neural network (CNN) is used as a shared feature extractor from a bird's eye view representation of the driving environment. The spatial attention used in the CNN model improves the feature extraction process by focusing on the most relevant areas of the surrounding environment. In addition, two novel curriculum learning schemes are employed to train the proposed approach. The extensive evaluation and comparative analysis of the proposed method in existing benchmark datasets show that the proposed method outperforms state-of-the-art LC prediction models, particularly considering long-term prediction performance.