1. A method for autonomous control of a vehicle, the method comprising: controlling an autonomous vehicle in accordance with a control strategy; detecting one or more nearby vehicles external to the autonomous vehicle using one or more sensors, wherein the nearby vehicles each have a position, heading, and speed; accessing map data having a plurality of road graph elements; determining with a processor that a first vehicle from one of the nearby vehicles is traveling on a first road graph element; comparing data representing the at least one of the position, heading and speed for the first vehicle with map data for the first road graph element; determining with a processor, based on the comparison, that the first vehicle from the one or more nearby vehicles has performed an action of interest by traveling from the first road graph element to a second road graph element; and altering the control strategy for the autonomous vehicle based on the action of interest having been performed by the first vehicle.