Disclosed is a method and apparatus for managing a driving plan of an autonomous vehicle. The method may include obtaining observations of a neighboring vehicle using one or more sensors of the autonomous vehicle. The method may also include classifying one or more behavioral driving characteristics of the neighboring vehicle based on the observations. Furthermore, the method may include updating the driving plan based on a classification of the one or more behavioral driving characteristics of the neighboring vehicle, and controlling one or more operations of the autonomous vehicle based on the updated driving plan.