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Recently, along with emergence of autonomous driving vehicles, it is predicted that in the near future, human drivers need to share road and interact with self-driving cars in all the possible traffic scenarios. In this paper, an algorithm based on negotiation with both persuasion and concession is proposed to tackle the challenging task of cooperative driving involving both human and robot drivers. The decision making process is formulated as an optimization based negotiation problem. The persuasion of autonomous vehicle is achieved by making commitment to tipping towards cooperation in the form of convex constraint. The concession is accomplished by gradually tuning weights in the objective function. We propose an approach suitable for most common driving scenarios including ramp merging, lane keeping/changing and intersection crossing. The effectiveness of the proposed algorithm is demonstrated by …