 now only have 20 CPDs to specify, instead of 24:
<pre>
bnet = mk_dbn(intra, inter, ns, dnodes, eclass1, eclass2);
for e=1:max(eclass)
  bnet.CPD{e} = tabular_CPD(bnet, e);
end
</pre>
-->



<h2><a name="bat">BATnet</h2>

As an example of a more complicated DBN, consider the following
example,
which is a model of a car's high level state, as might be used by
an automated car.
(The model is from Forbes, Huang, Kanazawa and Russell, "The BATmobile: Towards a
Bayesian Automated Taxi", IJCAI 95. The figure is f