Recently, an optimal control framework has been put forward to model human driver behavior and Advanced Driver Assistance Systems (ADAS). Although the models are shown to be face valid, applications are limited to the open-loop optimal control problem and assume that a driver expects a certain dynamic speed profile of his predecessor. While human drivers are assumed to be good in anticipating traffic, ADAS are poor at predicting the dynamics of other vehicles, due to limited looking-ahead range and errors of sensors and actuators.