Schneegans, Jan ; Eilbrecht, Jan ; Zernetsch, Stefan ; Bieshaar, Maarten ; Doll, Konrad ; Stursberg, Olaf ; Sick, Bernhard: {Probabilistic VRU Trajectory Forecasting for Model-Predictive Planning -- A Case Study: Overtaking Cyclists}. In: IV 2021 Workshop From Benchmarking Behavior Prediction to Socially Compatible Behavior Generation in Autonomous Driving, 2021. - (accepted)