… Our main contributions are: • We begin by formulating the mixed-autonomy traffic as a
stochastic game and introduce a general decentralized framework for training cooperative AV, that …

… mixed traffic flow [23], [25], [26], with a notable exception in [24], where the case of multiple
AVs is considered but the cooperative … , the cooperative formation of AVs in mixed traffic flow, …

… Abstract—Driving is a social activity: drivers often indicate their intent to change lanes …
mixedautonomy traffic where a Human-driven Vehicle (HV) and an Autonomous Vehicle (AV) drive …

… Thus, it is attractive to produce a distributed scheme of MPC that enables autonomy of the
individual vehicles and … Vahidi, “Mixed-integer linear programming for optimal scheduling of …

… The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic …
of driving heterogeneity, better human-machine interaction and cooperation can be realized …

… for connected and automated vehicles (CAVs) in a mixed-autonomy traffic environment, …
of humandriven vehicles (HVs). The proposed fully-automated cooperative adaptive cruise …

… Vehicles with more advanced autonomy may help reduce … In Section III, we propose a
cooperative autonomous driving … The mix ratio among these 4 types of vehicles is 1:1:1:1. The …

… cooperative on-ramp merging control strategy for CAVs to optimize flexible trajectories
with safety guarantees in mixed traffic… on autonomous vehicle control in the era of mixed-autonomy…

… of connected manual vehicles (… cooperative decision-making in a connected mixed traffic
environment. First, the model integrates the perceived risk field theory, quantifying the driving …

… automated traffic flow. And the works on cooperative control of CAVs in mixedautonomy traffic
… to facilitate the cooperative decisionmaking for mixed-autonomy traffic in freeway merging …