Advanced Driver Assistance Systems (ADAS) can be significantly improved with effective driver action prediction: predicting driver actions early and accurately can help mitigate the effects of potentially unsafe driving behaviors, avoid possible accidents, and improve vehicle powertrain model predictive control applications. Concerning the interpretation of the term “action”, consistent efforts in the literature focus on the vehicle’s trajectory, while there exist works on the forecast of the driver’s intention (e.g. going straight, turning left, etc.) or pedals pressure. The aim of this project is to develop a system predicting steering wheel angles, accelerator and brake pedals pressures in a fixed time-window, exploiting a sensorless architecture: no additional sensors beyond those already present in the car are required, nor are any biometric readings necessary.