{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T01:45:23Z","timestamp":1784857523291,"version":"3.55.0"},"reference-count":361,"publisher":"Emerald","issue":"3-4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,11,24]]},"abstract":"<jats:p>No human drives a car in a vacuum; she\/he must negotiate with other road users to achieve their goals in social traffic scenes. A rational human driver can interact with other road users in a socially-compatible way through implicit communications to complete their driving tasks smoothly in interaction-intensive, safety-critical environments. This monograph aims to review the existing approaches and theories to help understand and rethink the interactions among human drivers toward social autonomous driving. We take this survey to seek the answers to a series of fundamental questions: 1) What is social interaction in road traffic scenes? 2) How to measure and evaluate social interaction? 3) How to model and reveal the process of social interaction? 4) How do human drivers reach an implicit agreement and negotiate smoothly in social interaction? This monograph reviews various approaches to modeling and learning the social interactions between human drivers, ranging from optimization theory, deep learning, and graphical models to social force theory and behavioral and cognitive science. We also highlight some new directions, critical challenges, and opening questions for future research.<\/jats:p>","DOI":"10.1561\/2300000078","type":"journal-article","created":{"date-parts":[[2022,11,24]],"date-time":"2022-11-24T04:19:55Z","timestamp":1669263595000},"page":"198-377","source":"Crossref","is-referenced-by-count":154,"title":["Social Interactions for Autonomous Driving: A Review and Perspectives"],"prefix":"10.1108","volume":"10","author":[{"given":"Wenshuo","family":"Wang","sequence":"first","affiliation":[{"name":"McGill University ,","place":["Canada"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Letian","family":"Wang","sequence":"additional","affiliation":[{"name":"University of Toronto ,","place":["Canada"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chengyuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"McGill University ,","place":["Canada"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Changliu","family":"Liu","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University ,","place":["USA"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lijun","family":"Sun","sequence":"additional","affiliation":[{"name":"McGill University ,","place":["Canada"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2022,11,24]]},"reference":[{"key":"2026040113115366900_ref001","doi-asserted-by":"publisher","DOI":"10.1145\/1015330.1015430","article-title":"Apprenticeship learning via inverse reinforcement learning","author":"Abbeel","year":"2004","journal-title":"Proceedings of the twenty-first international conference on Machine learning"},{"key":"2026040113115366900_ref002","doi-asserted-by":"publisher","first-page":"2342","DOI":"10.1109\/IROS.2018.8594511","article-title":"People as sensors: Imputing maps from human actions","author":"Afolabi","year":"2018","journal-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"4","key":"2026040113115366900_ref003","doi-asserted-by":"publisher","first-page":"855","DOI":"10.1109\/TRO.2012.2195829","article-title":"Estimation of multivehicle dynamics by considering contextual information","volume":"28","author":"Agamennoni","year":"2012","journal-title":"IEEE Transactions on robotics"},{"key":"2026040113115366900_ref004","doi-asserted-by":"publisher","first-page":"368","DOI":"10.1109\/IVS.2015.7225713","article-title":"Stochastic driver speed control behavior modeling in urban intersections using risk potential-based motion planning framework","author":"Akagi","year":"2015","journal-title":"2015 IEEE intelligent vehicles symposium (IV)"},{"key":"2026040113115366900_ref005","doi-asserted-by":"publisher","first-page":"961","DOI":"10.1109\/CVPR.2016.110","article-title":"Social lstm: Human trajectory prediction in crowded spaces","author":"Alahi","year":"2016","journal-title":"Proceedings of the IEEE conference on computer vision and pattern recognition"},{"key":"2026040113115366900_ref006","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.arcontrol.2019.10.002","article-title":"Modeling cyber-physical human systems via an interplay between reinforcement learning and game theory","volume":"48","author":"Albaba","year":"2019","journal-title":"Annual Reviews in Control"},{"issue":"2","key":"2026040113115366900_ref007","doi-asserted-by":"publisher","first-page":"885","DOI":"10.1109\/TCST.2021.3075557","article-title":"Driver modeling through deep reinforcement learning and behavioral game theory","volume":"30","author":"Albaba","year":"2022","journal-title":"IEEE Transactions on Control Systems Technology"},{"issue":"4","key":"2026040113115366900_ref008","doi-asserted-by":"publisher","first-page":"5456","DOI":"10.1109\/LRA.2020.3009068","article-title":"Low Latency Trajectory Predictions for Interaction Aware Highway Driving","volume":"5","author":"Anderson","year":"2020","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2026040113115366900_ref009","doi-asserted-by":"publisher","DOI":"10.4324\/9781315805696","author":"Anderson","year":"2014","journal-title":"The atomic components of thought"},{"key":"2026040113115366900_ref010","doi-asserted-by":"publisher","first-page":"83","DOI":"10.1016\/j.trc.2014.10.012","article-title":"Modelling shared space users via rule-based social force model","volume":"51","author":"Anvari","year":"2015","journal-title":"Transportation Research Part C: Emerging Technologies"},{"issue":"3","key":"2026040113115366900_ref011","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.ifacol.2016.07.011","article-title":"Lane change scheduling for autonomous vehicles","volume":"49","author":"Atagoziyev","year":"2016","journal-title":"IFAC-PapersOnLine"},{"key":"2026040113115366900_ref012","article-title":"An invitation to imitation","author":"BagnellJ. A","year":"2015","journal-title":"Tech. rep."},{"key":"2026040113115366900_ref013","doi-asserted-by":"publisher","first-page":"103010","DOI":"10.1016\/j.trc.2021.103010","article-title":"Injecting knowledge in data-driven vehicle trajectory predictors","volume":"128","author":"Bahari","year":"2021","journal-title":"Transportation Research Part C: Emerging Technologies"},{"key":"2026040113115366900_ref014","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1409.0473","article-title":"Neural machine translation by jointly learning to align and translate","author":"Bahdanau","year":"2014","journal-title":"arXiv preprint arXiv:1409.0473"},{"issue":"6","key":"2026040113115366900_ref015","doi-asserted-by":"publisher","first-page":"1538","DOI":"10.1109\/TITS.2015.2506642","article-title":"A combined model-and learning-based framework for interaction-aware maneuver prediction","volume":"17","author":"Bahram","year":"2016","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"9","key":"2026040113115366900_ref016","doi-asserted-by":"publisher","first-page":"1288","DOI":"10.1177\/0278364914528255","article-title":"Integrated perception and planning in the continuous space: A POMDP approach","volume":"33","author":"Bai","year":"2014","journal-title":"The International Journal of Robotics Research"},{"issue":"4","key":"2026040113115366900_ref017","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1038\/s41562-017-0064","article-title":"Rational quantitative attribution of beliefs, desires and percepts in human mentalizing","volume":"1","author":"Baker","year":"2017","journal-title":"Nature Human Behaviour"},{"key":"2026040113115366900_ref018","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/B978-0-12-398532-3.00007-5","article-title":"Modeling human plan recognition using Bayesian theory of mind","volume":"7","author":"Baker","year":"2014","journal-title":"Plan, activity, and intent recognition: Theory and practice"},{"key":"2026040113115366900_ref019","doi-asserted-by":"publisher","first-page":"15621","DOI":"10.1109\/ICCV48922.2021.01533","article-title":"Prediction by anticipation: An action-conditional prediction method based on interaction learning","author":"Banijamali","year":"2021","journal-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision"},{"key":"2026040113115366900_ref020","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1806.01261","article-title":"Relational inductive biases, deep learning, and graph networks","author":"Battaglia","year":"2018","journal-title":"arXiv preprint arXiv:1806.01261"},{"issue":"4","key":"2026040113115366900_ref021","doi-asserted-by":"publisher","first-page":"045006","DOI":"10.1103\/RevModPhys.88.045006","article-title":"Active particles in complex and crowded environments","volume":"88","author":"Bechinger","year":"2016","journal-title":"Reviews of Modern Physics"},{"key":"2026040113115366900_ref022","doi-asserted-by":"publisher","first-page":"191","DOI":"10.1016\/j.aap.2017.03.008","article-title":"Interaction driver\u2013bicyclist on rural roads: Effects of cross-sections and road geometric elements","volume":"102","author":"Bella","year":"2017","journal-title":"Accident Analysis & Prevention"},{"key":"2026040113115366900_ref023","doi-asserted-by":"publisher","first-page":"1929","DOI":"10.1109\/IV47402.2020.9304839","article-title":"The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections","author":"Bock","year":"2020","journal-title":"2020 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref024","doi-asserted-by":"publisher","first-page":"1929","DOI":"10.1109\/IV47402.2020.9304839","article-title":"The ind dataset: A drone dataset of naturalistic road user trajectories at german intersections","author":"Bock","year":"2020","journal-title":"2020 IEEE Intelligent Vehicles Symposium (IV)"},{"issue":"6293","key":"2026040113115366900_ref025","doi-asserted-by":"publisher","first-page":"1573","DOI":"10.1126\/science.aaf2654","article-title":"The social dilemma of autonomous vehicles","volume":"352","author":"Bonnefon","year":"2016","journal-title":"Science"},{"key":"2026040113115366900_ref026","doi-asserted-by":"publisher","first-page":"3441","DOI":"10.1109\/ITSC.2019.8916924","article-title":"Cooperation-aware reinforcement learning for merging in dense traffic","author":"Bouton","year":"2019","journal-title":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)"},{"key":"2026040113115366900_ref027","article-title":"An analysis of stochastic game theory for multiagent reinforcement learning","author":"Bowling","year":"2000","journal-title":"Tech. rep."},{"issue":"4","key":"2026040113115366900_ref028","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1016\/S1369-8478(00)00005-X","article-title":"Car-following: a historical review","volume":"2","author":"Brackstone","year":"1999","journal-title":"Transportation Research Part F: Traffic Psychology and Behaviour"},{"issue":"10","key":"2026040113115366900_ref029","doi-asserted-by":"publisher","first-page":"18808","DOI":"10.1109\/TITS.2022.3160936","article-title":"Learning interaction-aware guidance policies for motion planning in dense traffic scenarios","volume":"23","author":"Brito","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref030","first-page":"1877","article-title":"Language models are few-shot learners","volume":"33","author":"Brown","year":"2020","journal-title":"et al."},{"key":"2026040113115366900_ref031","doi-asserted-by":"publisher","first-page":"6136","DOI":"10.1109\/iros40897.2019.8967997","article-title":"Sharing is caring: Socially-compliant autonomous intersection negotiation","author":"Buckman","year":"2019","journal-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref032","doi-asserted-by":"publisher","first-page":"1839","DOI":"10.1109\/ICRA48506.2021.9561461","article-title":"Spectral temporal graph neural network for trajectory prediction","author":"Cao","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref033","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1910.05449","article-title":"Multipath: Multiple probabilistic anchor trajectory hypotheses for behavior prediction","author":"Chai","year":"2019","journal-title":"arXiv preprint arXiv:1910.05449"},{"key":"2026040113115366900_ref034","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2011.04816","article-title":"Stylepredict: Machine theory of mind for human driver behavior from trajectories","author":"Chandra","year":"2020","journal-title":"arXiv preprint arXiv:2011.04816"},{"issue":"3","key":"2026040113115366900_ref035","doi-asserted-by":"publisher","first-page":"2572","DOI":"10.1109\/TITS.2021.3130218","article-title":"Using graph-theoretic machine learning to predict human driver behavior","volume":"23","author":"Chandra","year":"2021","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref036","doi-asserted-by":"publisher","first-page":"8483","DOI":"10.1109\/CVPR.2019.00868","article-title":"Traphic: Trajectory prediction in dense and heterogeneous traffic using weighted interactions","author":"Chandra","year":"2019","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref037","doi-asserted-by":"publisher","first-page":"2035","DOI":"10.1109\/IROS45743.2020.9341720","article-title":"Cmetric: A driving behavior measure using centrality functions","author":"Chandra","year":"2020","journal-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"2","key":"2026040113115366900_ref038","doi-asserted-by":"publisher","first-page":"2676","DOI":"10.1109\/LRA.2022.3144516","article-title":"Gameplan: Game-theoretic multiagent planning with human drivers at intersections, roundabouts, and merging","volume":"7","author":"Chandra","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"2026040113115366900_ref039","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1016\/j.tics.2017.11.008","article-title":"Negotiating the traffic: Can cognitive science help make autonomous vehicles a reality?","volume":"22","author":"Chater","year":"2018","journal-title":"Trends in cognitive sciences"},{"key":"2026040113115366900_ref040","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3170551","article-title":"Intention-Aware Vehicle Trajectory Prediction Based on Spatial-Temporal Dynamic Attention Network for Internet of Vehicles","author":"Chen","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref041","doi-asserted-by":"publisher","first-page":"7980","DOI":"10.1109\/ICRA48506.2021.9561148","article-title":"MIDAS: Multi-agent Interaction-aware Decision-making with Adaptive Strategies for Urban Autonomous Navigation","author":"Chen","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref042","doi-asserted-by":"publisher","first-page":"7980","DOI":"10.1109\/ICRA48506.2021.9561148","article-title":"MIDAS: Multi-agent Interaction-aware Decision-making with Adaptive Strategies for Urban Autonomous Navigation","author":"Chen","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"issue":"5","key":"2026040113115366900_ref043","doi-asserted-by":"publisher","first-page":"625","DOI":"10.1080\/01441647.2017.1396265","article-title":"Social force models for pedestrian traffic\u2013state of the art","volume":"38","author":"Chen","year":"2018","journal-title":"Transport reviews"},{"key":"2026040113115366900_ref044","doi-asserted-by":"publisher","first-page":"2761","DOI":"10.1109\/ICRA48506.2021.9561079","article-title":"When shall i be empathetic? the utility of empathetic parameter estimation in multi-agent interactions","author":"Chen","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref045","doi-asserted-by":"publisher","first-page":"1326","DOI":"10.1109\/CVPRW.2019.00172","article-title":"Attention-based hierarchical deep reinforcement learning for lane change behaviors in autonomous driving","author":"Chen","year":"2019","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition Workshops"},{"key":"2026040113115366900_ref046","doi-asserted-by":"publisher","first-page":"2076","DOI":"10.1109\/IROS40897.2019.8967708","article-title":"Deep predictive autonomous driving using multi-agent joint trajectory prediction and traffic rules","author":"Cho","year":"2019","journal-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref047","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1409.1259","article-title":"On the properties of neural machine translation: Encoder-decoder approaches","author":"Cho","year":"2014","journal-title":"arXiv preprint arXiv:1409.1259"},{"key":"2026040113115366900_ref048","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1908.00024","article-title":"DROGON: A trajectory prediction model based on intention-conditioned behavior reasoning","author":"Choi","year":"2019","journal-title":"arXiv preprint arXiv:1908.00024"},{"key":"2026040113115366900_ref049","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1412.3555","article-title":"Empirical evaluation of gated recurrent neural networks on sequence modeling","author":"Chung","year":"2014","journal-title":"arXiv preprint"},{"key":"2026040113115366900_ref050","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1016\/j.neuropsychologia.2014.10.022","article-title":"Neuronal bases of peripersonal and extrapersonal spaces, their plasticity and their dynamics: knowns and unknowns","volume":"70","author":"Cl\u00e9ry","year":"2015","journal-title":"Neuropsychologia"},{"key":"2026040113115366900_ref051","doi-asserted-by":"publisher","first-page":"4693","DOI":"10.1109\/ICRA.2018.8460487","article-title":"End-to-end driving via conditional imitation learning","author":"Codevilla","year":"2018","journal-title":"2018 IEEE international conference on robotics and automation (ICRA)"},{"issue":"2-3","key":"2026040113115366900_ref052","doi-asserted-by":"publisher","first-page":"365","DOI":"10.1162\/JEEA.2009.7.2-3.365","article-title":"Comparing models of strategic thinking in Van Huyck, Battalio, and Beil\u2019s coordination games","volume":"7","author":"Costa-Gomes","year":"2009","journal-title":"Journal of the European Economic Association"},{"key":"2026040113115366900_ref053","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/ICHMS53169.2021.9582640","article-title":"Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO","author":"Crosato","year":"2021","journal-title":"2021 IEEE 2nd International Conference on Human-Machine Systems (ICHMS)"},{"issue":"2","key":"2026040113115366900_ref054","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1111\/1467-7687.00039","article-title":"The teleological origins of mentalistic action explanations: A developmental hypothesis","volume":"1","author":"Csibra","year":"1998","journal-title":"Developmental science"},{"key":"2026040113115366900_ref055","doi-asserted-by":"publisher","first-page":"2090","DOI":"10.1109\/ICRA.2019.8793868","article-title":"Multimodal trajectory predictions for autonomous driving using deep convolutional networks","author":"Cui","year":"2019","journal-title":"2019 International Conference on Robotics and Automation (ICRA)"},{"issue":"7","key":"2026040113115366900_ref056","doi-asserted-by":"publisher","first-page":"1057","DOI":"10.1017\/S0033291720000835","article-title":"Knowing me, knowing you: theory of mind in AI","volume":"50","author":"Cuzzolin","year":"2020","journal-title":"Psychological medicine"},{"issue":"1-4","key":"2026040113115366900_ref057","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1016\/S0378-4371(00)00013-3","article-title":"Collective behavior of interacting self-propelled particles","volume":"281","author":"Czir\u00f3k","year":"2000","journal-title":"Physica A: Statistical Mechanics and its Applications"},{"key":"2026040113115366900_ref058","doi-asserted-by":"publisher","first-page":"38287","DOI":"10.1109\/ACCESS.2019.2907000","article-title":"Modeling vehicle interactions via modified LSTM models for trajectory prediction","volume":"7","author":"Dai","year":"2019","journal-title":"IEEE Access"},{"key":"2026040113115366900_ref059","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/9540.001.0001","author":"Danks","year":"2014","journal-title":"Unifying the mind: Cognitive representations as graphical models"},{"key":"2026040113115366900_ref060","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1016\/j.trf.2017.12.017","article-title":"Modeling the effect of limited sight distance through fog on car-following performance using QN-ACTR cognitive architecture","author":"Deng","year":"2019","journal-title":"Transportation research part F: traffic psychology and behaviour"},{"issue":"2","key":"2026040113115366900_ref061","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1109\/TIV.2018.2804159","article-title":"How would surround vehicles move? A unified framework for maneuver classification and motion prediction","volume":"3","author":"Deo","year":"2018","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref062","doi-asserted-by":"publisher","first-page":"1468","DOI":"10.1109\/CVPRW.2018.00196","article-title":"Convolutional social pooling for vehicle trajectory prediction","author":"Deo","year":"2018","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops"},{"key":"2026040113115366900_ref063","doi-asserted-by":"publisher","first-page":"1179","DOI":"10.1109\/IVS.2018.8500493","article-title":"Multi-modal trajectory prediction of surrounding vehicles with maneuver based lstms","author":"Deo","year":"2018","journal-title":"2018 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref064","doi-asserted-by":"publisher","first-page":"103008","DOI":"10.1016\/j.trc.2021.103008","article-title":"A survey on autonomous vehicle control in the era of mixed-autonomy: From physics-based to AI-guided driving policy learning","volume":"125","author":"Di","year":"2021","journal-title":"Transportation research part C: emerging technologies"},{"key":"2026040113115366900_ref065","doi-asserted-by":"publisher","first-page":"3640","DOI":"10.1109\/IROS.2018.8593725","article-title":"Game-theoretic cooperative lane changing using data-driven models","author":"Ding","year":"2018","journal-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"4","key":"2026040113115366900_ref066","doi-asserted-by":"publisher","first-page":"605","DOI":"10.1109\/TSMC.2016.2615188","article-title":"New multiple-target tracking strategy using domain knowledge and optimization","volume":"47","author":"Ding","year":"2016","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"key":"2026040113115366900_ref067","doi-asserted-by":"publisher","first-page":"8634","DOI":"10.1109\/ICRA.2019.8794146","article-title":"Predicting vehicle behaviors over an extended horizon using behavior interaction network","author":"Ding","year":"2019","journal-title":"2019 International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref068","doi-asserted-by":"publisher","first-page":"734","DOI":"10.1109\/ITSC48978.2021.9564907","article-title":"RA-GAT: Repulsion and Attraction Graph Attention for Trajectory Prediction","author":"Ding","year":"2021","journal-title":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)"},{"key":"2026040113115366900_ref069","doi-asserted-by":"publisher","DOI":"10.1109\/WACV45572.2020.9093332","article-title":"Uncertainty-aware Short-term Motion Prediction of Traffic Actors for Autonomous Driving","author":"Djuric","year":"2020","journal-title":"Proceedings of the IEEE\/CVF Winter Conference on Applications of Computer Vision (WACV)"},{"issue":"1","key":"2026040113115366900_ref070","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/MITS.2016.2613913","article-title":"Human drivers based active-passive model for automated lane change","volume":"9","author":"Do","year":"2017","journal-title":"IEEE Intelligent Transportation Systems Magazine"},{"issue":"2","key":"2026040113115366900_ref071","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1016\/j.neuron.2013.09.007","article-title":"Goals and habits in the brain","volume":"80","author":"Dolan","year":"2013","journal-title":"Neuron"},{"issue":"6","key":"2026040113115366900_ref072","doi-asserted-by":"publisher","first-page":"691","DOI":"10.1177\/001872087802000607","article-title":"A two-level model of driver steering behavior","volume":"20","author":"Donges","year":"1978","journal-title":"Human factors"},{"key":"2026040113115366900_ref073","doi-asserted-by":"publisher","first-page":"105889","DOI":"10.1016\/j.aap.2020.105889","article-title":"Predicting driver reaction time and deceleration: Comparison of perception-reaction thresholds and evidence accumulation framework","volume":"149","author":"Durrani","year":"2021","journal-title":"Accident Analysis & Prevention"},{"issue":"3","key":"2026040113115366900_ref074","doi-asserted-by":"publisher","first-page":"951","DOI":"10.2307\/1955504","article-title":"Understanding Conflict and War, Vol. 2: The Conflict Helix","volume":"73","author":"Duvall","year":"1979","journal-title":"American Political Science Review"},{"issue":"5","key":"2026040113115366900_ref075","doi-asserted-by":"publisher","first-page":"056601","DOI":"10.1088\/0034-4885\/78\/5\/056601","article-title":"Physics of microswimmers\u2014single particle motion and collective behavior: a review","volume":"78","author":"Elgeti","year":"2015","journal-title":"Reports on progress in physics"},{"issue":"2","key":"2026040113115366900_ref076","doi-asserted-by":"publisher","first-page":"179","DOI":"10.1207\/s15516709cog1402_1","article-title":"Finding structure in time","volume":"14","author":"Elman","year":"1990","journal-title":"Cognitive science"},{"key":"2026040113115366900_ref077","doi-asserted-by":"publisher","first-page":"388","DOI":"10.1016\/j.aap.2013.06.016","article-title":"A review of game-theoretic models of road user behaviour","volume":"62","author":"Elvik","year":"2014","journal-title":"Accident Analysis & Prevention"},{"key":"2026040113115366900_ref078","first-page":"1006","article-title":"Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Models","volume":"168","author":"Espinoza","year":"2022","journal-title":"Proceedings of The 4th Annual Learning for Dynamics and Control Conference"},{"key":"2026040113115366900_ref079","article-title":"Towards a Smart World: Hazard Levels for Monitoring of Autonomous Vehicles\u2019 Swarms","author":"Favaro","year":"2018","journal-title":"Tech. rep."},{"key":"2026040113115366900_ref080","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/ITSC45102.2020.9294482","article-title":"Conditional Wasserstein Auto-Encoder for Interactive Vehicle Trajectory Prediction","author":"Fei","year":"2020","journal-title":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)"},{"issue":"7","key":"2026040113115366900_ref081","doi-asserted-by":"publisher","first-page":"760","DOI":"10.1177\/027836499801700706","article-title":"Motion planning in dynamic environments using velocity obstacles","volume":"17","author":"Fiorini","year":"1998","journal-title":"The International Journal of Robotics Research"},{"key":"2026040113115366900_ref082","doi-asserted-by":"publisher","first-page":"9590","DOI":"10.1109\/ICRA.2019.8794007","article-title":"Hierarchical game-theoretic planning for autonomous vehicles","author":"Fisac","year":"2019","journal-title":"2019 IEEE International Conference on Robotics and Automation (ICRA)"},{"issue":"4","key":"2026040113115366900_ref083","doi-asserted-by":"publisher","first-page":"1569","DOI":"10.1109\/TSP.2010.2102756","article-title":"Bayesian nonparametric inference of switching dynamic linear models","volume":"59","author":"Fox","year":"2011","journal-title":"IEEE Transactions on Signal Processing"},{"key":"2026040113115366900_ref084","article-title":"Bayesian nonparametric learning of complex dynamical phenomena","author":"Fox","year":"2009","journal-title":"PhD thesis"},{"issue":"6","key":"2026040113115366900_ref085","doi-asserted-by":"publisher","first-page":"1371","DOI":"10.1109\/TITS.2016.2619266","article-title":"Swarm-inspired modeling of a highway system with stability analysis","volume":"18","author":"Fredette","year":"2016","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"52","key":"2026040113115366900_ref086","doi-asserted-by":"publisher","first-page":"33141","DOI":"10.1073\/pnas.2011446117","article-title":"Testing the drift-diffusion model","volume":"117","author":"Fudenberg","year":"2020","journal-title":"Proceedings of the National Academy of Sciences"},{"key":"2026040113115366900_ref087","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1145\/3131944.3133939","article-title":"Characterizing the","author":"Fugiglando","year":"2017","journal-title":"Proceedings of the 2nd ACM International Workshop on Smart, Autonomous, and Connected Vehicular Systems and Services"},{"key":"2026040113115366900_ref088","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1007\/978-3-642-46466-9_18","article-title":"Neocognitron: A self-organizing neural network model for a mechanism of visual pattern recognition","author":"Fukushima","year":"1982","journal-title":"Competition and cooperation in neural nets"},{"issue":"12","key":"2026040113115366900_ref089","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1016\/S1364-6613(98)01262-5","article-title":"Mirror neurons and the simulation theory of mind-reading","volume":"2","author":"Gallese","year":"1998","journal-title":"Trends in cognitive sciences"},{"key":"2026040113115366900_ref090","doi-asserted-by":"publisher","first-page":"11525","DOI":"10.1109\/CVPR42600.2020.01154","article-title":"Vectornet: Encoding hd maps and agent dynamics from vectorized representation","author":"Gao","year":"2020","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref091","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2110.04580","article-title":"Active Altruism Learning and Information Sufficiency for Autonomous Driving","author":"Geary","year":"2021","journal-title":"arXiv preprint arXiv:2110.04580"},{"issue":"3","key":"2026040113115366900_ref092","doi-asserted-by":"publisher","first-page":"453","DOI":"10.2307\/1416145","article-title":"A theoretical field-analysis of automobile-driving","volume":"51","author":"Gibson","year":"1938","journal-title":"The American journal of psychology"},{"key":"2026040113115366900_ref093","first-page":"213","article-title":"Effects of a social force model reward in robot navigation based on deep reinforcement learning","author":"Gil","year":"2019","journal-title":"Iberian Robotics conference"},{"key":"2026040113115366900_ref094","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2205.07310","article-title":"Uncertainty estimation for Cross-dataset performance in Trajectory prediction","author":"Gilles","year":"2022","journal-title":"arXiv preprint"},{"key":"2026040113115366900_ref095","doi-asserted-by":"publisher","first-page":"1625","DOI":"10.1109\/ITSC.2010.5625262","article-title":"A probabilistic model for estimating driver behaviors and vehicle trajectories in traffic environments","author":"Gindele","year":"2010","journal-title":"13th International IEEE Conference on Intelligent Transportation Systems"},{"issue":"1","key":"2026040113115366900_ref096","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1109\/MITS.2014.2357038","article-title":"Learning driver behavior models from traffic observations for decision making and planning","volume":"7","author":"Gindele","year":"2015","journal-title":"IEEE Intelligent Transportation Systems Magazine"},{"key":"2026040113115366900_ref097","doi-asserted-by":"publisher","first-page":"9803","DOI":"10.1109\/ICCV48922.2021.00966","article-title":"LOKI: Long Term and Key Intentions for Trajectory Prediction","author":"Girase","year":"2021","journal-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision"},{"key":"2026040113115366900_ref098","doi-asserted-by":"publisher","first-page":"3384","DOI":"10.1109\/ICRA. 2018.8460208","article-title":"Modeling driver behavior from demonstrations in dynamic environments using spatiotemporal lattices","author":"Gonz\u00e1lez","year":"2018","journal-title":"2018 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref099","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/ITSC.2017.8317709","article-title":"Interaction-aware driver maneuver inference in highways using realistic driver models","author":"Gonz\u00e1lez","year":"2017","journal-title":"2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)"},{"issue":"1-2","key":"2026040113115366900_ref100","doi-asserted-by":"publisher","DOI":"10.1111\/j.1468-0017.1992.tb00202.x","article-title":"Why the child\u2019s theory of mind really is a theory","volume":"7","author":"Gopnik","year":"1992","journal-title":"Mind & Language"},{"key":"2026040113115366900_ref101","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1410.5401","article-title":"Neural turing machines","author":"Graves","year":"2014","journal-title":"arXiv preprint arXiv:1410.5401"},{"issue":"1","key":"2026040113115366900_ref102","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/TIV.2017.2788194","article-title":"Humanlike behavior generation in urban environment based on learning-based potentials with a low-cost lane graph","volume":"3","author":"Guo","year":"2017","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref103","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TIM.2022.3163136","article-title":"Vehicle Trajectory Prediction Method Coupled With Ego Vehicle Motion Trend Under Dual Attention Mechanism","volume":"71","author":"Guo","year":"2022","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"issue":"2","key":"2026040113115366900_ref104","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1109\/TIV.2016.2586307","article-title":"Modeling and prediction of driving behaviors using a nonparametric bayesian method with ar models","volume":"1","author":"Hamada","year":"2016","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref105","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/21680566.2022.2052998","article-title":"A flock-like two-dimensional cooperative vehicle formation model based on potential functions","author":"Hao","year":"2022","journal-title":"Transportmetrica B: Transport Dynamics"},{"issue":"7","key":"2026040113115366900_ref106","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1016\/S0895-7177(97)00050-2","article-title":"Dynamic graph models","volume":"25","author":"Harary","year":"1997","journal-title":"Mathematical and Computer Modelling"},{"issue":"2","key":"2026040113115366900_ref107","doi-asserted-by":"publisher","first-page":"144","DOI":"10.1016\/j.trf.2011.12.003","article-title":"When norms turn perverse: Contextual irrationality vs. rational traffic violations","volume":"15","author":"Hav\u00e2rneanu","year":"2012","journal-title":"Transportation Research Part F: Traffic Psychology and Behaviour"},{"key":"2026040113115366900_ref108","doi-asserted-by":"publisher","first-page":"5962","DOI":"10.1109\/IROS45743.2020.9340943","article-title":"UST: Unifying Spatio-Temporal Context for Trajectory Prediction in Autonomous Driving","author":"He","year":"2020","journal-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"4","key":"2026040113115366900_ref109","doi-asserted-by":"publisher","first-page":"1067","DOI":"10.1103\/RevModPhys.73.1067","article-title":"Traffic and related self-driven many-particle systems","volume":"73","author":"Helbing","year":"2001","journal-title":"Reviews of modern physics"},{"issue":"5","key":"2026040113115366900_ref110","doi-asserted-by":"publisher","first-page":"4282","DOI":"10.1103\/PhysRevE.51.4282","article-title":"Social force model for pedestrian dynamics","volume":"51","author":"Helbing","year":"1995","journal-title":"Physical review E"},{"issue":"7912","key":"2026040113115366900_ref111","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1038\/s41586-022-04743-9","article-title":"People construct simplified mental representations to plan","volume":"606","author":"Ho","year":"2022","journal-title":"Nature"},{"issue":"8","key":"2026040113115366900_ref112","doi-asserted-by":"publisher","first-page":"1735","DOI":"10.1162\/neco.1997.9.8.1735","article-title":"Long short-term memory","volume":"9","author":"Hochreiter","year":"1997","journal-title":"Neural computation"},{"key":"2026040113115366900_ref113","doi-asserted-by":"publisher","first-page":"8454","DOI":"10.1109\/CVPR.2019.00865","article-title":"Rules of the road: Predicting driving behavior with a convolutional model of semantic interactions","author":"Hong","year":"2019","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref114","doi-asserted-by":"publisher","first-page":"321","DOI":"10.1007\/978-3-540-77074-9","article-title":"Generic driving behavior modeling by differential game theory","author":"Hoogendoorn","year":"2009","journal-title":"Traffic and Granular Flow\u201907"},{"key":"2026040113115366900_ref115","first-page":"1","article-title":"SFMGNet: A Physics-based Neural Network To Predict Pedestrian Trajectories","author":"Hossain","year":"2022","journal-title":"Proceedings of the AAAI Spring Symposium on Machine Learning and Knowledge Engineering for Hybrid Intelligence (AAAI-MAKE)"},{"issue":"11","key":"2026040113115366900_ref116","doi-asserted-by":"publisher","first-page":"4615","DOI":"10.1109\/ TITS.2019.2942089","article-title":"Interactive trajectory prediction of surrounding road users for autonomous driving using structural-LSTM network","volume":"21","author":"Hou","year":"2019","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref117","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1109\/IROS40897.2019.8968478","article-title":"Interaction-aware decision making with adaptive strategies under merging scenarios","author":"Hu","year":"2019","journal-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref118","doi-asserted-by":"publisher","first-page":"307","DOI":"10.1109\/IVS.2018.8500419","article-title":"Probabilistic prediction of vehicle semantic intention and motion","author":"Hu","year":"2018","journal-title":"2018 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref119","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2004.03053","article-title":"Scenario-transferable semantic graph reasoning for interaction-aware probabilistic prediction","author":"Hu","year":"2020","journal-title":"arXiv preprint arXiv:2004.03053"},{"issue":"1","key":"2026040113115366900_ref120","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1109\/TIV.2017.2788208","article-title":"Automated driving in uncertain environments: Planning with interaction and uncertain maneuver prediction","volume":"3","author":"Hubmann","year":"2018","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref121","author":"Hutchinson","year":"1969","journal-title":"An evaluation of the effectiveness of televised locally oriented driver re-education"},{"issue":"6369","key":"2026040113115366900_ref122","doi-asserted-by":"crossref","first-page":"1375","DOI":"10.1126\/science.358.6369.1375","article-title":"A matter of trust","volume":"358","author":"Hutson","year":"2017","journal-title":"Science"},{"issue":"6346","key":"2026040113115366900_ref123","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1126\/science.357.6346.19","article-title":"AI Glossary: Artificial intelligence, in so many words","volume":"357","author":"Hutson","year":"2017","journal-title":"Science"},{"key":"2026040113115366900_ref124","author":"Iftekhar","year":"2012","journal-title":"Safety-aware intelligent transportation systems: cooperative autonomous driving for vehicular networks"},{"key":"2026040113115366900_ref125","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2104.12446","article-title":"Heterogeneous-agent trajectory forecasting incorporating class uncertainty","author":"Ivanovic","year":"2021","journal-title":"arXiv preprint arXiv: 2104.12446"},{"key":"2026040113115366900_ref126","doi-asserted-by":"publisher","first-page":"5308","DOI":"10.1109\/CVPR.2016.573","article-title":"Structuralrnn: Deep learning on spatio-temporal graphs","author":"Jain","year":"2016","journal-title":"Proceedings of the ieee conference on computer vision and pattern recognition"},{"key":"2026040113115366900_ref127","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1016\/j.cobeha.2019.04.010","article-title":"Theory of mind as inverse reinforcement learning","volume":"29","author":"Jara-Ettinger","year":"2019","journal-title":"Current Opinion in Behavioral Sciences"},{"issue":"2","key":"2026040113115366900_ref128","doi-asserted-by":"publisher","first-page":"3065","DOI":"10.1109\/LRA.2021.3062309","article-title":"Ide-net: Interactive driving event and pattern extraction from human data","volume":"6","author":"Jia","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2026040113115366900_ref129","doi-asserted-by":"publisher","first-page":"3568","DOI":"10.1109\/ITSC.2018.8569687","article-title":"Modeling interactions of multimodal road users in shared spaces","author":"Johora","year":"2018","journal-title":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"2026040113115366900_ref130","article-title":"An introduction to probabilistic graphical models","author":"Jordan","year":"2003"},{"key":"2026040113115366900_ref131","doi-asserted-by":"publisher","first-page":"1793","DOI":"10.1109\/IV47402.2020.9304764","article-title":"Interaction-aware kalman neural networks for trajectory prediction","author":"Ju","year":"2020","journal-title":"2020 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref132","doi-asserted-by":"publisher","first-page":"3960","DOI":"10.1109\/ROBOT.2010.5509919","article-title":"Recognition of situation classes at road intersections","author":"K\u00e4fer","year":"2010","journal-title":"2010 ieee international conference on robotics and automation"},{"issue":"2","key":"2026040113115366900_ref133","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1109\/TIV.2018.2886678","article-title":"Test your self-driving algorithm: An overview of publicly available driving datasets and virtual testing environments","volume":"4","author":"Kang","year":"2019","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref134","doi-asserted-by":"publisher","first-page":"1031","DOI":"10.1016\/j.trf.2018.07.019","article-title":"\u201cWhat Makes a Cooperative Driver?\u201d Identifying parameters of implicit and explicit forms of communication in a lane change scenario","volume":"58","author":"Kauffmann","year":"2018","journal-title":"Transportation research part F: traffic psychology and behaviour"},{"issue":"70","key":"2026040113115366900_ref135","doi-asserted-by":"publisher","first-page":"2648","DOI":"10.5555\/3455716.3455786","article-title":"Representation Learning for Dynamic Graphs: A Survey","volume":"21","author":"Kazemi","year":"2020","journal-title":"The Journal of Machine Learning Research"},{"issue":"1","key":"2026040113115366900_ref136","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1007\/s10514-015-9528-y","article-title":"Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors","volume":"41","author":"Khansari-Zadeh","year":"2017","journal-title":"Autonomous Robots"},{"key":"2026040113115366900_ref137","doi-asserted-by":"publisher","first-page":"500","DOI":"10.1109\/ROBOT.1985.1087247","article-title":"Real-time obstacle avoidance for manipulators and mobile robots","volume":"2","author":"Khatib","year":"1985","journal-title":"Proceedings. 1985 IEEE International Conference on Robotics and Automation"},{"key":"2026040113115366900_ref138","doi-asserted-by":"publisher","first-page":"987","DOI":"10.1109\/CCTA.2017.8062588","article-title":"Local trajectory planning and control for autonomous vehicles using the adaptive potential field","author":"Kim","year":"2017","journal-title":"2017 IEEE Conference on Control Technology and Applications (CCTA)"},{"key":"2026040113115366900_ref139","doi-asserted-by":"publisher","first-page":"1069","DOI":"10.1109\/ITSC.2018.8569673","article-title":"Trajectory planning for autonomous highway driving using the adaptive potential field","author":"Kim","year":"2018","journal-title":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"2026040113115366900_ref140","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1609.02907","article-title":"Semi-supervised classification with graph convolutional networks","author":"Kipf","year":"2016","journal-title":"arXiv preprint arXiv:1609.02907"},{"issue":"3-4","key":"2026040113115366900_ref141","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1016\/S0965-8564(98)00039-1","article-title":"A merging\u2013giveway interaction model of cars in a merging section: a game theoretic analysis","volume":"33","author":"Kita","year":"1999","journal-title":"Transportation Research Part A: Policy and Practice"},{"key":"2026040113115366900_ref142","doi-asserted-by":"publisher","first-page":"103428","DOI":"10.1016\/j.trc.2021.103428","article-title":"A risk field-based metric correlates with driver\u2019s perceived risk in manual and automated driving: A test-track study","volume":"133","author":"Kolekar","year":"2021","journal-title":"Transportation Research Part C: Emerging Technologies"},{"issue":"1","key":"2026040113115366900_ref143","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1038\/s41467-020-18353-4","article-title":"Human-like driving behaviour emerges from a risk-based driver model","volume":"11","author":"Kolekar","year":"2020","journal-title":"Nature communications"},{"key":"2026040113115366900_ref144","doi-asserted-by":"publisher","DOI":"10.4233\/uuid:a118e35c-dec9-4c1f-9ed7-8b65a5ca77a3","article-title":"Driver\u2019s risk field: A step towards a unified driver model","author":"Kolekar","year":"2021","journal-title":"PhD thesis"},{"key":"2026040113115366900_ref145","volume-title":"Probabilistic graphical models: principles and techniques","author":"Koller","year":"2009"},{"key":"2026040113115366900_ref146","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.cobeha.2018.11.005","article-title":"On the necessity of abstraction","volume":"29","author":"Konidaris","year":"2019","journal-title":"Current opinion in behavioral sciences"},{"key":"2026040113115366900_ref147","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2101.05399","article-title":"Act to Reason: A Dynamic Game Theoretical Model of Driving","author":"K\u00f6pr\u00fcl\u00fc","year":"2021","journal-title":"arXiv preprint arXiv:2101.05399"},{"key":"2026040113115366900_ref148","article-title":"Social-bigat: Multimodal trajectory forecasting using bicycle-gan and graph attention networks","volume":"32","author":"Kosaraju","year":"2019","journal-title":"33rd Conference on Neural Information Processing Systems (NeurIPS 2019)"},{"key":"2026040113115366900_ref149","doi-asserted-by":"publisher","first-page":"2118","DOI":"10.1109\/ITSC.2018.8569552","article-title":"The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems","author":"Krajewski","year":"2018","journal-title":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"2026040113115366900_ref150","doi-asserted-by":"publisher","first-page":"2118","DOI":"10.1109\/ITSC.2018.8569552","article-title":"The highd dataset: A drone dataset of naturalistic vehicle trajectories on german highways for validation of highly automated driving systems","author":"Krajewski","year":"2018","journal-title":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"2026040113115366900_ref151","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/ITSC45102.2020.9294728","article-title":"The round dataset: A drone dataset of road user trajectories at roundabouts in germany","author":"Krajewski","year":"2020","journal-title":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"2026040113115366900_ref152","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2109.12081","article-title":"Deep Social Force","author":"Kreiss","year":"2021","journal-title":"arXiv preprint arXiv:2109.12081"},{"issue":"20","key":"2026040113115366900_ref153","doi-asserted-by":"publisher","first-page":"228","DOI":"10.1177\/0361198118786641","article-title":"Some indications on how to calibrate the social force model of pedestrian dynamics","volume":"2672","author":"Kretz","year":"2018","journal-title":"Transportation research record"},{"key":"2026040113115366900_ref154","doi-asserted-by":"publisher","first-page":"1122","DOI":"10.1109\/IV47402.2020.9304846","article-title":"Interaction-Aware Trajectory Prediction based on a 3D Spatio-Temporal Tensor Representation using Convolutional\u2013Recurrent Neural Networks","author":"Kr\u00fcger","year":"2020","journal-title":"2020 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref155","doi-asserted-by":"publisher","first-page":"204","DOI":"10.1109\/IVS.2017.7995721","article-title":"Imitating driver behavior with generative adversarial networks","author":"Kuefler","year":"2017","journal-title":"2017 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref156","doi-asserted-by":"publisher","first-page":"5530","DOI":"10.1109\/IROS51168.2021.9636143","article-title":"Interaction-based trajectory prediction over a hybrid traffic graph","author":"Kumar","year":"2021","journal-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref157","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X16001837","article-title":"Building machines that learn and think like people","volume":"40","author":"Lake","year":"2017","journal-title":"Behavioral and brain sciences"},{"key":"2026040113115366900_ref158","doi-asserted-by":"publisher","first-page":"8118","DOI":"10.1109\/IROS.2018.8593682","article-title":"Social cohesion in autonomous driving","author":"Landolfi","year":"2018","journal-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref159","doi-asserted-by":"publisher","first-page":"103891","DOI":"10.1016\/j.beproc.2019.103891","article-title":"Uncovering the \u2018state\u2019: Tracing the hidden state representations that structure learning and decision-making","volume":"167","author":"Langdon","year":"2019","journal-title":"Behavioural processes"},{"key":"2026040113115366900_ref160","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1016\/j.cobeha.2017.09.011","article-title":"The subjective experience of emotion: a fearful view","volume":"19","author":"LeDouxHofmann","year":"2018","journal-title":"Current Opinion in Behavioral Sciences"},{"key":"2026040113115366900_ref161","doi-asserted-by":"publisher","first-page":"336","DOI":"10.1109\/CVPR.2017.233","article-title":"Desire: Distant future prediction in dynamic scenes with interacting agents","author":"Lee","year":"2017","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref162","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1007\/s10111-020-00635-y","article-title":"Road users rarely use explicit communication when interacting in today\u2019s traffic: implications for automated vehicles","volume":"23","author":"Lee","year":"2021","journal-title":"et al."},{"key":"2026040113115366900_ref163","doi-asserted-by":"publisher","first-page":"1332","DOI":"10.1109\/SMC52423.2021.9658771","article-title":"Maneuver Based Modeling of Driver Decision Making using Game-Theoretic Planning","author":"Lemmer","year":"2021","journal-title":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)"},{"key":"2026040113115366900_ref164","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1911.12250","article-title":"Social attention for autonomous decision-making in dense traffic","author":"Leurent","year":"2019","journal-title":"arXiv preprint arXiv:1911.12250"},{"key":"2026040113115366900_ref165","doi-asserted-by":"publisher","first-page":"7908","DOI":"10.1109\/ ICRA48506.2021.9560790","article-title":"Prediction-based reachability for collision avoidance in autonomous driving","author":"Li","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref166","doi-asserted-by":"publisher","first-page":"3218","DOI":"10.1109\/ITSC.2018.8569780","article-title":"Generic probabilistic interactive situation recognition and prediction: From virtual to real","author":"Li","year":"2018","journal-title":"2018 21st international conference on intelligent transportation systems (ITSC)"},{"key":"2026040113115366900_ref167","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2002.06241","article-title":"Social-wagdat: Interaction-aware trajectory prediction via wasserstein graph double-attention network","author":"Li","year":"2020","journal-title":"arXiv preprint arXiv:2002.06241"},{"key":"2026040113115366900_ref168","first-page":"19783","article-title":"Evolvegraph: Multiagent trajectory prediction with dynamic relational reasoning","volume":"33","author":"Li","year":"2020","journal-title":"34th Conference on neural information processing systems (NeurIPS 2020)"},{"key":"2026040113115366900_ref169","doi-asserted-by":"publisher","first-page":"5784","DOI":"10.1109\/IROS45743.2020.9341392","article-title":"End-to-end contextual perception and prediction with interaction transformer","author":"Li","year":"2020","journal-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"1","key":"2026040113115366900_ref170","doi-asserted-by":"publisher","first-page":"122","DOI":"10.1109\/TITS.2020.3008284","article-title":"Dynamic driving risk potential field model under the connected and automated vehicles environment and its application in car-following modeling","volume":"23","author":"Li","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref171","doi-asserted-by":"publisher","first-page":"105805","DOI":"10.1016\/j.aap.2020.105805","article-title":"Risk perception and the warning strategy based on safety potential field theory","volume":"148","author":"Li","year":"2020","journal-title":"Accident Analysis & Prevention"},{"key":"2026040113115366900_ref172","doi-asserted-by":"publisher","first-page":"125039","DOI":"10.1016\/j.physa.2020.125039","article-title":"A novel lane-changing model of connected and automated vehicles: Using the safety potential field theory","volume":"559","author":"Li","year":"2020","journal-title":"Physica A: Statistical Mechanics and its Applications"},{"key":"2026040113115366900_ref173","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1016\/j.ymssp.2019.01.040","article-title":"Shared control with a novel dynamic authority allocation strategy based on game theory and driving safety field","volume":"124","author":"Li","year":"2019","journal-title":"Mechanical Systems and Signal Processing"},{"key":"2026040113115366900_ref174","doi-asserted-by":"publisher","first-page":"3215","DOI":"10.23919\/ACC.2018.8430842","article-title":"Game theoretic modeling of vehicle interactions at unsignalized intersections and application to autonomous vehicle control","author":"Li","year":"2018","journal-title":"2018 Annual American Control Conference (ACC)"},{"key":"2026040113115366900_ref175","doi-asserted-by":"publisher","first-page":"727","DOI":"10.1109\/CDC.2016.7798354","article-title":"Hierarchical reasoning game theory based approach for evaluation and testing of autonomous vehicle control systems","author":"Li","year":"2016","journal-title":"2016 IEEE 55th Conference on Decision and Control (CDC)"},{"issue":"5","key":"2026040113115366900_ref176","doi-asserted-by":"publisher","first-page":"1782","DOI":"10.1109\/TCST.2017.2723574","article-title":"Game theoretic modeling of driver and vehicle interactions for verification and validation of autonomous vehicle control systems","volume":"26","author":"Li","year":"2017","journal-title":"IEEE Transactions on control systems technology"},{"issue":"2","key":"2026040113115366900_ref177","doi-asserted-by":"publisher","first-page":"1428","DOI":"10.1109\/TITS.2020.3026160","article-title":"Game-theoretic modeling of multi-vehicle interactions at uncontrolled intersections","volume":"23","author":"Li","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref178","doi-asserted-by":"publisher","first-page":"3960","DOI":"10.1109\/ITSC.2019.8917228","article-title":"Grip: Graph-based interaction-aware trajectory prediction","author":"Li","year":"2019","journal-title":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)"},{"issue":"4","key":"2026040113115366900_ref179","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1007\/s41095-020-0190-8","article-title":"Fluid-inspired field representation for risk assessment in road scenes","volume":"6","author":"Li","year":"2020","journal-title":"Computational Visual Media"},{"key":"2026040113115366900_ref180","first-page":"1093","article-title":"Safe Reinforcement Learning Using Robust Action Governor","volume":"144","author":"Li","year":"2021","journal-title":"Proceedings of the 3rd Conference on Learning for Dynamics and Control"},{"issue":"7","key":"2026040113115366900_ref181","doi-asserted-by":"publisher","first-page":"9102","DOI":"10.1109\/TITS.2021.3090851","article-title":"A hierarchical framework for interactive behaviour prediction of heterogeneous traffic participants based on graph neural network","volume":"23","author":"Li","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"3","key":"2026040113115366900_ref182","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1002\/ejsp.2420140302","article-title":"The effect of social motives, communication and group size on behaviour in an N-person multi-stage mixed-motive game","volume":"14","author":"Liebrand","year":"1984","journal-title":"European journal of social psychology"},{"issue":"3","key":"2026040113115366900_ref183","doi-asserted-by":"publisher","first-page":"217","DOI":"10.1002\/per.2410020304","article-title":"The ring measure of social values: A computerized procedure for assessing individual differences in information processing and social value orientation","volume":"2","author":"Liebrand","year":"1988","journal-title":"European journal of personality"},{"key":"2026040113115366900_ref184","article-title":"Control for Cooperative Autonomous Driving Inspired by Bird Flocking Behavior","author":"Lijcklama \u00e0 Nijeholt","year":"2020","journal-title":"B.S. thesis"},{"key":"2026040113115366900_ref185","first-page":"157","article-title":"Markov Games as a Framework for Multi-Agent Reinforcement Learning","author":"Littman","year":"1994","journal-title":"In Proceedings of the Eleventh International Conference on Machine Learning"},{"issue":"1","key":"2026040113115366900_ref186","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1109\/TIV.2017.2788209","article-title":"Distributed conflict resolution for connected autonomous vehicles","volume":"3","author":"Liu","year":"2017","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref187","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2112.07624","article-title":"Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios","author":"Liu","year":"2021","journal-title":"arXiv preprint arXiv:2112.07624"},{"key":"2026040113115366900_ref188","doi-asserted-by":"publisher","DOI":"10.1109\/CDC45484.2021.9682915","article-title":"Cooperation-Aware Decision Making for Autonomous Vehicles in Merge Scenarios","author":"Liu","year":"2021","journal-title":"2021 IEEE Conference on Decision and Control (CDC), IEEE"},{"key":"2026040113115366900_ref189","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2201.06157","article-title":"Potential Game Based Decision-Making Frameworks for Autonomous Driving","author":"Liu","year":"2022","journal-title":"arXiv preprint arXiv:2201.06157"},{"key":"2026040113115366900_ref190","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TITS.2022.3160630","article-title":"Interactive Trajectory Prediction Using a Driving Risk Map-Integrated Deep Learning Method for Surrounding Vehicles on Highways","author":"Liu","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"1","key":"2026040113115366900_ref191","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/TAC.2003.821416","article-title":"Stable social foraging swarms in a noisy environment","volume":"49","author":"Liu","year":"2004","journal-title":"IEEE Transactions on automatic control"},{"key":"2026040113115366900_ref192","doi-asserted-by":"publisher","first-page":"52","DOI":"10.1109\/IS.2006.348393","article-title":"Multitasking driver cognitive behavior modeling","author":"Liu","year":"2006","journal-title":"2006 3rd International IEEE Conference Intelligent Systems"},{"key":"2026040113115366900_ref193","doi-asserted-by":"publisher","first-page":"225294","DOI":"10.1109\/ACCESS.2020.3044909","article-title":"Adaptive potential field-based path planning for complex autonomous driving scenarios","volume":"8","author":"Lu","year":"2020","journal-title":"IEEE Access"},{"key":"2026040113115366900_ref194","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1906.01566","article-title":"GAMMA: A general agent motion prediction model for autonomous driving","author":"Luo","year":"2019","journal-title":"arXiv preprint arXiv:1906.01566"},{"key":"2026040113115366900_ref195","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2011.05767","article-title":"Simulating Autonomous Driving in Massive Mixed Urban Traffic","author":"Luo","year":"2020","journal-title":"arXiv preprint arXiv:2011.05767"},{"key":"2026040113115366900_ref196","doi-asserted-by":"publisher","first-page":"5261","DOI":"10.1109\/ICRA48506.2021.9561344","article-title":"Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios","author":"Luo","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref197","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1508.04025","article-title":"Effective approaches to attention-based neural machine translation","author":"Luong","year":"2015","journal-title":"arXiv preprint arXiv:1508.04025"},{"key":"2026040113115366900_ref198","doi-asserted-by":"publisher","first-page":"3122","DOI":"10.1109\/ITSC48978.2021.9564510","article-title":"Multi-agent driving behavior prediction across different scenarios with self-supervised domain knowledge","author":"Ma","year":"2021","journal-title":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)"},{"issue":"01","key":"2026040113115366900_ref199","doi-asserted-by":"publisher","first-page":"6120","DOI":"10.1609\/aaai.v33i01.33016120","article-title":"Trafficpredict: Trajectory prediction for heterogeneous traffic-agents","volume":"33","author":"Ma","year":"2019","journal-title":"Proceedings of the AAAI Conference on Artificial Intelligence"},{"issue":"5","key":"2026040113115366900_ref200","doi-asserted-by":"publisher","first-page":"412","DOI":"10.1111\/mice.12266","article-title":"Two-dimensional simulation of turning behavior in potential conflict area of mixed-flow intersections","volume":"32","author":"Ma","year":"2017","journal-title":"Computer-Aided Civil and Infrastructure Engineering"},{"issue":"2","key":"2026040113115366900_ref201","doi-asserted-by":"publisher","first-page":"5639","DOI":"10.1109\/LRA.2022.3151613","article-title":"Occupancy Flow Fields for Motion Forecasting in Autonomous Driving","volume":"7","author":"Mahjourian","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2026040113115366900_ref202","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2110.05304","article-title":"You Mostly Walk Alone: Analyzing Feature Attribution in Trajectory Prediction","author":"Makansi","year":"2021","journal-title":"arXiv preprint arXiv:2110.05304"},{"key":"2026040113115366900_ref203","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1109\/MRA.2022.3182892","article-title":"Models of human behavior for human-robot interaction and automated driving: How accurate do the models of human behavior need to be?","author":"Markkula","year":"2022","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"6","key":"2026040113115366900_ref204","doi-asserted-by":"publisher","first-page":"728","DOI":"10.1080\/1463922X.2020.1736686","article-title":"Defining interactions: A conceptual framework for understanding interactive behaviour in human and automated road traffic","volume":"21","author":"Markkula","year":"2020","journal-title":"Theoretical Issues in Ergonomics Science"},{"issue":"5","key":"2026040113115366900_ref205","doi-asserted-by":"publisher","first-page":"556","DOI":"10.1080\/01441647.2020.1862355","article-title":"Ethical issues in focus by the autonomous vehicles industry","volume":"41","author":"Martinho","year":"2021","journal-title":"Transport reviews"},{"issue":"1","key":"2026040113115366900_ref206","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1017\/S0269888912000057","article-title":"Independent reinforcement learners in cooperative markov games: a survey regarding coordination problems","volume":"27","author":"Matignon","year":"2012","journal-title":"The Knowledge Engineering Review"},{"key":"2026040113115366900_ref207","doi-asserted-by":"publisher","first-page":"5806","DOI":"10.1109\/ICRA46639.2022.9812118","article-title":"Analyzing multiagent interactions in traffic scenes via topological braids","author":"Mavrogiannis","year":"2022","journal-title":"2022 International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref208","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2004.05205","article-title":"Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids","author":"Mavrogiannis","year":"2020","journal-title":"arXiv preprint arXiv:2004.05205"},{"issue":"2-3","key":"2026040113115366900_ref209","doi-asserted-by":"publisher","first-page":"338","DOI":"10.1177\/0278364918781016","article-title":"Multi-agent path topology in support of socially competent navigation planning","volume":"38","author":"Mavrogiannis","year":"2019","journal-title":"The International Journal of Robotics Research"},{"key":"2026040113115366900_ref210","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2204.13319","article-title":"Control-Aware Prediction Objectives for Autonomous Driving","author":"McAllister","year":"2022","journal-title":"arXiv preprint arXiv:2204.13319"},{"issue":"5","key":"2026040113115366900_ref211","doi-asserted-by":"publisher","first-page":"438","DOI":"10.1002\/bs.3830170505","article-title":"Social motivation\u2014A set of propositions","volume":"17","author":"McClintock","year":"1972","journal-title":"Behavioral Science"},{"issue":"4","key":"2026040113115366900_ref212","doi-asserted-by":"publisher","first-page":"3609","DOI":"10.1109\/TVT.2022.3148972","article-title":"Game-Theoretic Lane-Changing Decision Making and Payoff Learning for Autonomous Vehicles","volume":"71","author":"Mejia","year":"2022","journal-title":"IEEE Transactions on Vehicular Technology"},{"key":"2026040113115366900_ref213","doi-asserted-by":"publisher","first-page":"9638","DOI":"10.1109\/ICRA40945.2020.9197340","article-title":"Multi-head attention for multi-modal joint vehicle motion forecasting","author":"Mercat","year":"2020","journal-title":"2020 IEEE International Conference on Robotics and Automation (ICRA)"},{"issue":"6369","key":"2026040113115366900_ref214","doi-asserted-by":"publisher","first-page":"1370","DOI":"10.1126\/science.358.6369.1370","article-title":"Not so fast","volume":"358","author":"Mervis","year":"2017","journal-title":"Science"},{"key":"2026040113115366900_ref215","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1109\/IV48863.2021.9576054","article-title":"Trajectory prediction for autonomous driving based on multi-head attention with joint agent-map representation","author":"Messaoud","year":"2021","journal-title":"2021 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref216","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1109\/IV48863.2021.9576054","article-title":"Trajectory prediction for autonomous driving based on multi-head attention with joint agent-map representation","author":"Messaoud","year":"2021","journal-title":"2021 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref217","doi-asserted-by":"publisher","first-page":"975","DOI":"10.1109\/IVS.2019.8813829","article-title":"Non-local social pooling for vehicle trajectory prediction","author":"Messaoud","year":"2019","journal-title":"2019 IEEE Intelligent Vehicles Symposium (IV)"},{"issue":"1","key":"2026040113115366900_ref218","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1109\/TIV.2020.2991952","article-title":"Attention based vehicle trajectory prediction","volume":"6","author":"Messaoud","year":"2021","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"issue":"1","key":"2026040113115366900_ref219","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1037\/0033-295X.104.1.3","article-title":"A computational theory of executive cognitive processes and multiple-task performance: Part I. Basic mechanisms.","volume":"104","author":"Meyer","year":"1997","journal-title":"Psychological review"},{"issue":"7","key":"2026040113115366900_ref220","doi-asserted-by":"publisher","first-page":"9554","DOI":"10.1109\/TITS.2022.3146300","article-title":"Multi-agent trajectory prediction with heterogeneous edge-enhanced graph attention network","volume":"23","author":"Mo","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref221","doi-asserted-by":"publisher","first-page":"958","DOI":"10.1109\/IV51971.2022.9827305","article-title":"The exiD Dataset: A Real-World Trajectory Dataset of Highly Interactive Highway Scenarios in Germany","author":"Moers","year":"2022","journal-title":"2022 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref222","doi-asserted-by":"publisher","first-page":"14424","DOI":"10.1109\/CVPR42600.2020.01443","article-title":"Socialstgcnn: A social spatio-temporal graph convolutional neural network for human trajectory prediction","author":"Mohamed","year":"2020","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"issue":"1","key":"2026040113115366900_ref223","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1006\/game.1996.0044","article-title":"Potential games","volume":"14","author":"Monderer","year":"1996","journal-title":"Games and economic behavior"},{"issue":"1","key":"2026040113115366900_ref224","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1109\/TITS.2020.3012034","article-title":"Deep learning-based vehicle behavior prediction for autonomous driving applications: A review","volume":"23","author":"Mozaffari","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref225","doi-asserted-by":"publisher","first-page":"102716","DOI":"10.1016\/j.trc.2020.102716","article-title":"Probabilistic field approach for motorway driving risk assessment","volume":"118","author":"Mullakkal-Babu","year":"2020","journal-title":"Transportation research part C: emerging technologies"},{"key":"2026040113115366900_ref226","doi-asserted-by":"publisher","first-page":"686","DOI":"10.1145\/2968219.2968561","article-title":"The social behavior of autonomous vehicles","author":"M\u00fcller","year":"2016","journal-title":"Proceedings of the 2016 ACM International Joint Conference on Pervasive and Ubiquitous Computing: Adjunct"},{"key":"2026040113115366900_ref227","doi-asserted-by":"publisher","first-page":"4708","DOI":"10.1109\/CDC.2015.7402953","article-title":"Convex modeling of conflict resolution at traffic intersections","author":"Murgovski","year":"2015","journal-title":"2015 54th IEEE conference on decision and control (CDC)"},{"key":"2026040113115366900_ref228","doi-asserted-by":"publisher","DOI":"10.5555\/2380985","author":"Murphy","year":"2012","journal-title":"Machine learning: a probabilistic perspective"},{"key":"2026040113115366900_ref229","volume-title":"Dynamic bayesian networks: representation, inference and learning","author":"Murphy","year":"2002"},{"issue":"3","key":"2026040113115366900_ref230","doi-asserted-by":"publisher","first-page":"1622","DOI":"10.1109\/TMECH.2020.2981625","article-title":"Using Potential Field Function With a Velocity Field Controller to Learn and Reproduce the Therapist\u2019s Assistance in Robot-Assisted Rehabilitation","volume":"25","author":"Najafi","year":"2020","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"2","key":"2026040113115366900_ref231","article-title":"Algorithms for inverse reinforcement learning","volume":"1","author":"Ng","year":"2000","journal-title":"Proceedings of the Seventeenth International Conference on Machine Learning"},{"issue":"2","key":"2026040113115366900_ref232","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1109\/TITS.2011.2106158","article-title":"A multiple-goal reinforcement learning method for complex vehicle overtaking maneuvers","volume":"12","author":"Ngai","year":"2011","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref233","article-title":"Scene Transformer: A unified architecture for predicting future trajectories of multiple agents","author":"Ngiam","year":"2022","journal-title":"International Conference on Learning Representations"},{"issue":"39","key":"2026040113115366900_ref234","doi-asserted-by":"crossref","first-page":"1929","DOI":"10.12988\/ams.2013.13175","article-title":"A unified perspective on traffic flow theory, part I: the field theory","volume":"7","author":"Ni","year":"2013","journal-title":"Applied Mathematical Sciences"},{"issue":"10","key":"2026040113115366900_ref235","doi-asserted-by":"publisher","first-page":"1544","DOI":"10.1038\/s41593-019-0470-8","article-title":"Learning task-state representations","volume":"22","author":"Niv","year":"2019","journal-title":"Nature neuroscience"},{"issue":"21","key":"2026040113115366900_ref236","doi-asserted-by":"publisher","first-page":"8145","DOI":"10.1523\/JNEUROSCI.2978-14.2015","article-title":"Reinforcement learning in multidimensional environments relies on attention mechanisms","volume":"35","author":"Niv","year":"2015","journal-title":"Journal of Neuroscience"},{"issue":"3","key":"2026040113115366900_ref237","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1109\/TAC.2005.864190","article-title":"Flocking for multi-agent dynamic systems: Algorithms and theory","volume":"51","author":"Olfati-Saber","year":"2006","journal-title":"IEEE Transactions on automatic control"},{"issue":"1","key":"2026040113115366900_ref238","doi-asserted-by":"publisher","first-page":"190","DOI":"10.1016\/j.actpsy.2013.06.003","article-title":"Attention and choice: A review on eye movements in decision making","volume":"144","author":"Orquin","year":"2013","journal-title":"Acta psychologica"},{"key":"2026040113115366900_ref239","doi-asserted-by":"publisher","first-page":"1730","DOI":"10.1109\/LCSYS.2021.3133175","article-title":"Socially Compatible Control Design of Automated Vehicle in Mixed Traffic","author":"Ozkan","year":"2021","journal-title":"IEEE Control Systems Letters"},{"key":"2026040113115366900_ref240","doi-asserted-by":"publisher","first-page":"7949","DOI":"10.1109\/IROS45743.2020.9341233","article-title":"Lane-Attention: Predicting Vehicles\u2019 Moving Trajectories by Learning Their Attention Over Lanes","author":"Pan","year":"2020","journal-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"9","key":"2026040113115366900_ref241","doi-asserted-by":"publisher","first-page":"535","DOI":"10.1049\/el.2018.6750","article-title":"Flocking-based cooperative autonomous driving using vehicle-toeverything communication","volume":"55","author":"Park","year":"2019","journal-title":"Electronics Letters"},{"key":"2026040113115366900_ref242","doi-asserted-by":"publisher","first-page":"316","DOI":"10.1016\/j.trpro.2015.09.081","article-title":"Modeling of shared space with multi-modal traffic using a multi-layer social force approach","volume":"10","author":"Pascucci","year":"2015","journal-title":"Transportation Research Procedia"},{"key":"2026040113115366900_ref243","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1109\/ICCV.2009.5459260","article-title":"You\u2019ll never walk alone: Modeling social behavior for multi-target tracking","author":"Pellegrini","year":"2009","journal-title":"2009 IEEE 12th International Conference on Computer Vision"},{"key":"2026040113115366900_ref244","first-page":"1","article-title":"Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations","author":"Peters","year":"2021","journal-title":"Robotics: Science and Systems XVII, 2021"},{"key":"2026040113115366900_ref245","doi-asserted-by":"publisher","first-page":"5712","DOI":"10.1109\/ICRA.2018.8460697","article-title":"Navigating congested environments with risk level sets","author":"Pierson","year":"2018","journal-title":"2018 IEEE International Conference on Robotics and Automation (ICRA)"},{"issue":"7","key":"2026040113115366900_ref246","doi-asserted-by":"publisher","first-page":"649","DOI":"10.1016\/S0191-2615(01)00024-8","article-title":"A decision model for gap acceptance and capacity at intersections","volume":"36","author":"Pollatschek","year":"2002","journal-title":"Transportation Research Part B: Methodological"},{"key":"2026040113115366900_ref247","doi-asserted-by":"publisher","first-page":"305","DOI":"10.5555\/2969735.2969771","article-title":"Alvinn: An autonomous land vehicle in a neural network","author":"Pomerleau","year":"1988","journal-title":"Proceedings of the 1st International Conference on Neural Information Processing Systems"},{"issue":"4","key":"2026040113115366900_ref248","doi-asserted-by":"publisher","first-page":"515","DOI":"10.1017\/S0140525X00076512","article-title":"Does the chimpanzee have a theory of mind?","volume":"1","author":"Premack","year":"1978","journal-title":"Behavioral and brain sciences"},{"key":"2026040113115366900_ref249","article-title":"Minnesota\u2019s Best Practices and Policies for Safety Strategies on Highways and Local Roads","author":"Preston","year":"2011","journal-title":"Tech. rep."},{"key":"2026040113115366900_ref250","first-page":"4218","article-title":"Machine Theory of Mind","volume":"80","author":"Rabinowitz","year":"2018","journal-title":"Proceedings of the 35th International Conference on Machine Learning"},{"issue":"4","key":"2026040113115366900_ref251","doi-asserted-by":"publisher","first-page":"278","DOI":"10.1016\/j.tics.2019.01.010","article-title":"Holistic reinforcement learning: the role of structure and attention","volume":"23","author":"Radulescu","year":"2019","journal-title":"Trends in cognitive sciences"},{"key":"2026040113115366900_ref252","doi-asserted-by":"publisher","first-page":"253","DOI":"10.1146\/annurev-neuro-092920-120559","article-title":"Human representation learning","volume":"44","author":"Radulescu","year":"2021","journal-title":"Annual Review of Neuroscience"},{"issue":"5","key":"2026040113115366900_ref253","doi-asserted-by":"publisher","first-page":"054609","DOI":"10.1103\/PhysRevE.104.054609","article-title":"Moving efficiently through a crowd: A nature-inspired traffic rule","volume":"104","author":"Raj","year":"2021","journal-title":"Physical Review E"},{"issue":"3","key":"2026040113115366900_ref254","doi-asserted-by":"publisher","first-page":"900","DOI":"10.1109\/TITS.2019.2901817","article-title":"Autonomous vehicles that interact with pedestrians: A survey of theory and practice","volume":"21","author":"Rasouli","year":"2019","journal-title":"IEEE transactions on intelligent transportation systems"},{"key":"2026040113115366900_ref255","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1145\/37402.37406","article-title":"Flocks, herds and schools: A distributed behavioral model","author":"Reynolds","year":"1987","journal-title":"Proceedings of the 14th annual conference on Computer graphics and interactive techniques"},{"key":"2026040113115366900_ref256","doi-asserted-by":"publisher","first-page":"2821","DOI":"10.1109\/ICCV.2019.00291","article-title":"Precog: Prediction conditioned on goals in visual multi-agent settings","author":"Rhinehart","year":"2019","journal-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision"},{"key":"2026040113115366900_ref257","doi-asserted-by":"publisher","first-page":"1249","DOI":"10.1016\/j.trpro.2017.05.144","article-title":"A multi-layer social force approach to model interactions in shared spaces using collision prediction","volume":"25","author":"Rinke","year":"2017","journal-title":"Transportation research procedia"},{"issue":"3","key":"2026040113115366900_ref258","doi-asserted-by":"publisher","first-page":"e1488","DOI":"10.1002\/wcs.1488","article-title":"ACT-R: A cognitive architecture for modeling cognition","volume":"10","author":"Ritter","year":"2019","journal-title":"Wiley Interdisciplinary Reviews: Cognitive Science"},{"key":"2026040113115366900_ref259","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1007\/978-3-319-78512-7_10","article-title":"Network centrality: an introduction","volume":"22","author":"Rodrigues","year":"2019","journal-title":"A mathematical modeling approach from nonlinear dynamics to complex systems"},{"key":"2026040113115366900_ref260","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2011.03894","article-title":"Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections","author":"Roh","year":"2020","journal-title":"arXiv preprint arXiv:2011.03894"},{"key":"2026040113115366900_ref261","doi-asserted-by":"publisher","first-page":"6419","DOI":"10.1109\/ICRA40945.2020.9196778","article-title":"Driving style encoder: Situational reward adaptation for general-purpose planning in automated driving","author":"Rosbach","year":"2020","journal-title":"2020 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref262","article-title":"Principles of neurodynamics. perceptrons and the theory of brain mechanisms","author":"Rosenblatt","year":"1961","journal-title":"Tech. rep."},{"key":"2026040113115366900_ref263","doi-asserted-by":"publisher","first-page":"2318","DOI":"10.1109\/ITSC.2019.8916927","article-title":"Vehicle trajectory prediction at intersections using interaction based generative adversarial networks","author":"Roy","year":"2019","journal-title":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)"},{"issue":"4","key":"2026040113115366900_ref264","doi-asserted-by":"publisher","first-page":"3137","DOI":"10.1109\/TITS.2020.3031984","article-title":"Detection of Collision-Prone Vehicle Behavior at Intersections using Siamese Interaction LSTM","volume":"23","author":"Roy","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"6","key":"2026040113115366900_ref265","doi-asserted-by":"publisher","first-page":"754","DOI":"10.1080\/01441647.2020.1768174","article-title":"Influences on lateral passing distance when motor vehicles overtake bicycles: a systematic literature review","volume":"40","author":"Rubie","year":"2020","journal-title":"Transport reviews"},{"issue":"8","key":"2026040113115366900_ref266","doi-asserted-by":"publisher","first-page":"895","DOI":"10.1177\/0278364920917446","article-title":"Human motion trajectory prediction: A survey","volume":"39","author":"Rudenko","year":"2020","journal-title":"The International Journal of Robotics Research"},{"key":"2026040113115366900_ref267","doi-asserted-by":"publisher","first-page":"103705","DOI":"10.1016\/j.trc.2022.103705","article-title":"Are socially-aware trajectory prediction models really socially-aware?","volume":"141","author":"Saadatnejad","year":"2022","journal-title":"Transportation research part C: emerging technologies"},{"issue":"7","key":"2026040113115366900_ref268","doi-asserted-by":"publisher","first-page":"1405","DOI":"10.1007\/s10514-018-9746-1","article-title":"Planning for cars that coordinate with people: leveraging effects on human actions for planning and active information gathering over human internal state","volume":"42","author":"Sadigh","year":"2018","journal-title":"Autonomous Robots"},{"key":"2026040113115366900_ref269","first-page":"1","article-title":"Planning for autonomous cars that leverage effects on human actions","volume":"2","author":"Sadigh","year":"2016","journal-title":"Robotics: Science and Systems"},{"key":"2026040113115366900_ref270","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1016\/j.trc.2014.09.008","article-title":"Incorporating human-factors in car-following models: a review of recent developments and research needs","volume":"48","author":"Saifuzzaman","year":"2014","journal-title":"Transportation research part C: emerging technologies"},{"issue":"2","key":"2026040113115366900_ref271","doi-asserted-by":"publisher","first-page":"362","DOI":"10.1518\/001872006777724417","article-title":"Modeling driver behavior in a cognitive architecture","volume":"48","author":"Salvucci","year":"2006","journal-title":"Human factors"},{"issue":"1","key":"2026040113115366900_ref272","doi-asserted-by":"publisher","first-page":"9","DOI":"10.3141\/1779-02","article-title":"Toward an integrated model of driver behavior in cognitive architecture","volume":"1779","author":"Salvucci","year":"2001","journal-title":"Transportation Research Record"},{"key":"2026040113115366900_ref273","doi-asserted-by":"publisher","first-page":"683","DOI":"10.1007\/978-3-030-58523-5_40","article-title":"Trajectron++: Dynamically-feasible trajectory forecasting with heterogeneous data","author":"Salzmann","year":"2020","journal-title":"European Conference on Computer Vision"},{"key":"2026040113115366900_ref274","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2203.07676","article-title":"An Introduction to Multi-Agent Reinforcement Learning and Review of its Application to Autonomous Mobility","author":"Schmidt","year":"2022","journal-title":"arXiv preprint arXiv:2203.07676"},{"key":"2026040113115366900_ref275","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1146\/annurev-control-060117-105157","article-title":"Planning and decision-making for autonomous vehicles","volume":"1","author":"Schwarting","year":"2018","journal-title":"Annual Review of Control, Robotics, and Autonomous Systems"},{"issue":"50","key":"2026040113115366900_ref276","doi-asserted-by":"publisher","first-page":"24972","DOI":"10.1073\/pnas.1820676116","article-title":"Social behavior for autonomous vehicles","volume":"116","author":"Schwarting","year":"2019","journal-title":"Proceedings of the National Academy of Sciences"},{"issue":"6","key":"2026040113115366900_ref277","doi-asserted-by":"publisher","first-page":"2157","DOI":"10.1109\/TRO.2021.3075376","article-title":"Stochastic dynamic games in belief space","volume":"37","author":"Schwarting","year":"2021","journal-title":"IEEE Transactions on Robotics"},{"key":"2026040113115366900_ref278","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1109\/IVS.2016.7535411","article-title":"Cooperative adaptive cruise control: An artificial potential field approach","author":"Semsar-Kazerooni","year":"2016","journal-title":"2016 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref279","doi-asserted-by":"publisher","first-page":"3578","DOI":"10.1109\/IROS.2015.7353877","article-title":"Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent","author":"Sezer","year":"2015","journal-title":"2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"10","key":"2026040113115366900_ref280","doi-asserted-by":"publisher","first-page":"1095","DOI":"10.1073\/pnas.39.10.1095","article-title":"Stochastic games","volume":"39","author":"Shapley","year":"1953","journal-title":"Proceedings of the national academy of sciences"},{"issue":"6","key":"2026040113115366900_ref281","doi-asserted-by":"publisher","first-page":"613","DOI":"10.1007\/BF00935561","article-title":"Additional aspects of the Stackelberg strategy in nonzero-sum games","volume":"11","author":"Simaan","year":"1973","journal-title":"Journal of Optimization Theory and Applications"},{"issue":"3","key":"2026040113115366900_ref282","doi-asserted-by":"publisher","first-page":"94","DOI":"10.1037\/h0049039","article-title":"Reinforcement today","volume":"13","author":"Skinner","year":"1958","journal-title":"American Psychologist"},{"issue":"45","key":"2026040113115366900_ref283","doi-asserted-by":"publisher","first-page":"13743","DOI":"10.1073\/pnas.1513508112","article-title":"Stochastic games","volume":"112","author":"Solan","year":"2015","journal-title":"Proceedings of the National Academy of Sciences"},{"key":"2026040113115366900_ref284","first-page":"1035","article-title":"Learning to predict vehicle trajectories with model-based planning","author":"Song","year":"2022","journal-title":"The 5th Conference on Robot Learning (CoRL 2021)"},{"key":"2026040113115366900_ref285","doi-asserted-by":"publisher","DOI":"10.1093\/OBO\/9780199756384-0048","article-title":"Social Control","author":"Spillman","year":"2012","journal-title":"Oxford Bibliographies: Sociology"},{"key":"2026040113115366900_ref286","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1911.07414","article-title":"Potential field: Interpretable and unified representation for trajectory prediction","author":"Su","year":"2019","journal-title":"arXiv preprint arXiv:1911.07414"},{"key":"2026040113115366900_ref287","first-page":"6583","article-title":"Convolutions for spatial interaction modeling","author":"Su","year":"2022","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref288","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1109\/IROS.2018.8594511","article-title":"Behavior planning of autonomous cars with social perception","author":"Sun","year":"2019","journal-title":"2019 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref289","doi-asserted-by":"publisher","first-page":"2111","DOI":"10.1109\/ITSC.2018.8569453","article-title":"Probabilistic prediction of interactive driving behavior via hierarchical inverse reinforcement learning","author":"Sun","year":"2018","journal-title":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"2026040113115366900_ref290","doi-asserted-by":"publisher","first-page":"663","DOI":"10.1109\/IROS.2018.8593969","article-title":"Courteous autonomous cars","author":"Sun","year":"2018","journal-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref291","first-page":"6543","article-title":"M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction","author":"Sun","year":"2022","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref292","author":"Sutton","year":"2018","journal-title":"Reinforcement learning: An introduction"},{"issue":"10","key":"2026040113115366900_ref293","doi-asserted-by":"publisher","first-page":"1033","DOI":"10.1038\/s41567-019-0600-y","article-title":"Topological chaos in active nematics","volume":"15","author":"Tan","year":"2019","journal-title":"Nature Physics"},{"issue":"8","key":"2026040113115366900_ref294","doi-asserted-by":"publisher","first-page":"11605","DOI":"10.1109\/TITS.2021.3105518","article-title":"Risk Field Model of Driving and Its Application in Modeling Car-Following Behavior","volume":"23","author":"Tan","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref295","article-title":"Multiple futures prediction","volume":"32","author":"Tang","year":"2019","journal-title":"33rd Conference on Neural Information Processing Systems (NeurIPS 2019)"},{"key":"2026040113115366900_ref296","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2204.08665","article-title":"Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction","author":"Tang","year":"2022","journal-title":"arXiv preprint arXiv:2204.08665"},{"issue":"9","key":"2026040113115366900_ref297","doi-asserted-by":"publisher","first-page":"1300","DOI":"10.1109\/TSMC.2015.2465933","article-title":"Sequence prediction of driving behavior using double articulation analyzer","volume":"46","author":"Taniguchi","year":"2015","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"4","key":"2026040113115366900_ref298","doi-asserted-by":"publisher","first-page":"1746","DOI":"10.1109\/ TITS.2014.2376525","article-title":"Unsupervised hierarchical modeling of driving behavior and prediction of contextual changing points","volume":"16","author":"Taniguchi","year":"2014","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"476","key":"2026040113115366900_ref299","doi-asserted-by":"publisher","first-page":"1566","DOI":"10.1198\/016214506000000302","article-title":"Hierarchical dirichlet processes","volume":"101","author":"Teh","year":"2006","journal-title":"Journal of the american statistical association"},{"issue":"3","key":"2026040113115366900_ref300","doi-asserted-by":"publisher","first-page":"2211","DOI":"10.1109\/TITS.2020.3035363","article-title":"Game-theoretic modeling of traffic in unsignalized intersection network for autonomous vehicle control verification and validation","volume":"23","author":"Tian","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref301","doi-asserted-by":"publisher","first-page":"11229","DOI":"10.1109\/ICRA46639.2022.9812048","article-title":"Safety assurances for human-robot interaction via confidence-aware game-theoretic human models","author":"Tian","year":"2022","journal-title":"2022 International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref302","doi-asserted-by":"publisher","first-page":"4560","DOI":"10.1109\/IROS51168.2021.9636653","article-title":"Learning human rewards by inferring their latent intelligence levels in multi-agent games: A theory-of-mind approach with application to driving data","author":"Tian","year":"2021","journal-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"issue":"20","key":"2026040113115366900_ref303","doi-asserted-by":"publisher","first-page":"12282","DOI":"10.1109\/JSEN.2020.2999095","article-title":"Multi-vehicle tracking using an environment interaction potential force model","volume":"20","author":"Tian","year":"2020","journal-title":"IEEE Sensors Journal"},{"key":"2026040113115366900_ref304","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2107.05664","article-title":"Altruistic Maneuver Planning for Cooperative Autonomous Vehicles Using Multi-agent Advantage Actor-Critic","author":"Toghi","year":"2021","journal-title":"arXiv preprint arXiv:2107.05664"},{"key":"2026040113115366900_ref305","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2107.00200","article-title":"Social coordination and altruism in autonomous driving","author":"Toghi","year":"2021","journal-title":"arXiv preprint arXiv:2107.00200"},{"key":"2026040113115366900_ref306","doi-asserted-by":"publisher","first-page":"3473","DOI":"10.1109\/ICRA48506.2021.9561967","article-title":"Identifying driver interactions via conditional behavior prediction","author":"Tolstaya","year":"2021","journal-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref307","first-page":"5998","article-title":"Attention is all you need","author":"Vaswani","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"2026040113115366900_ref308","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1710.10903","article-title":"Graph attention networks","author":"Veli\u010dkovi\u0107P","year":"2017","journal-title":"arXiv preprint arXiv:1710.10903"},{"key":"2026040113115366900_ref309","doi-asserted-by":"publisher","first-page":"4601","DOI":"10.1109\/ICRA.2018.8460504","article-title":"Social attention: Modeling attention in human crowds","author":"Vemula","year":"2018","journal-title":"2018 IEEE international Conference on Robotics and Automation (ICRA)"},{"key":"2026040113115366900_ref310","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TASE.2021.3103179","article-title":"Uncovering Interpretable Internal States of Merging Tasks at Highway On-Ramps for Autonomous Driving Decision-Making","author":"Wang","year":"2020","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"8","key":"2026040113115366900_ref311","doi-asserted-by":"publisher","first-page":"11237","DOI":"10.1109\/TITS.2021.3102407","article-title":"On social interactions of merging behaviors at highway on-ramps in congested traffic","volume":"23","author":"Wang","year":"2021","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"4","key":"2026040113115366900_ref312","doi-asserted-by":"publisher","first-page":"2203","DOI":"10.1109\/TITS.2015.2401837","article-title":"The driving safety field based on driver\u2013vehicle\u2013road interactions","volume":"16","author":"Wang","year":"2015","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref313","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2112.06129","article-title":"Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Prediction","author":"Wang","year":"2021","journal-title":"arXiv preprint arXiv:2112.06129"},{"key":"2026040113115366900_ref314","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2111.00788","article-title":"Hierarchical Adaptable and Transferable Networks (HATN) for Driving Behavior Prediction","author":"Wang","year":"2021","journal-title":"arXiv preprint arXiv:2111.00788"},{"key":"2026040113115366900_ref315","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2202.05140","article-title":"Transferable and Adaptable Driving Behavior Prediction","author":"Wang","year":"2022","journal-title":"arXiv preprint arXiv:2202.05140"},{"issue":"2","key":"2026040113115366900_ref316","doi-asserted-by":"publisher","first-page":"3421","DOI":"10.1109\/LRA.2021.3061350","article-title":"Socially-compatible behavior design of autonomous vehicles with verification on real human data","volume":"6","author":"Wang","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"4","key":"2026040113115366900_ref317","doi-asserted-by":"publisher","first-page":"6844","DOI":"10.1109\/LRA.2021.3094564","article-title":"Multiple Contextual Cues Integrated Trajectory Prediction for Autonomous Driving","volume":"6","author":"Wang","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"2026040113115366900_ref318","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1109\/TIV.2017.2720459","article-title":"How much data are enough? A statistical approach with case study on longitudinal driving behavior","volume":"2","author":"Wang","year":"2017","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref319","doi-asserted-by":"publisher","first-page":"1935","DOI":"10.1109\/IV47402.2020.9304849","article-title":"Learning Representations for Multi-Vehicle Spatiotemporal Interactions with Semi-Stochastic Potential Fields","author":"Wang","year":"2020","journal-title":"2020 IEEE Intelligent Vehicles Symposium (IV)"},{"issue":"1","key":"2026040113115366900_ref320","doi-asserted-by":"publisher","first-page":"610","DOI":"10.1109\/TITS.2020.3014612","article-title":"Understanding v2v driving scenarios through traffic primitives","volume":"23","author":"Wang","year":"2020","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"2","key":"2026040113115366900_ref321","doi-asserted-by":"publisher","first-page":"1223","DOI":"10.1109\/LRA.2018.2794604","article-title":"Extracting traffic primitives directly from naturalistically logged data for self-driving applications","volume":"3","author":"Wang","year":"2018","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2026040113115366900_ref322","first-page":"7794","article-title":"Non-local neural networks","author":"Wang","year":"2018","journal-title":"Proceedings of the IEEE conference on computer vision and pattern recognition"},{"key":"2026040113115366900_ref323","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1109\/IVS.2013.6629471","article-title":"Autonomous vehicle social behavior for highway entrance ramp management","author":"Wei","year":"2013","journal-title":"2013 IEEE Intelligent Vehicles Symposium (IV)"},{"issue":"5","key":"2026040113115366900_ref324","doi-asserted-by":"publisher","first-page":"477","DOI":"10.1177\/001872087601800506","article-title":"Social interaction patterns in driver behavior: An introductory review","volume":"18","author":"Wilde","year":"1976","journal-title":"Human factors"},{"issue":"4","key":"2026040113115366900_ref325","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1111\/j.1464-0597.1980.tb01105.x","article-title":"Immediate and delayed social interaction in road user behaviour","volume":"29","author":"Wilde","year":"1980","journal-title":"Applied Psychology"},{"key":"2026040113115366900_ref326","first-page":"19","article-title":"General survey of efficiency and effectiveness of road safety campaigns: achievements and challenges","author":"Wilde","year":"1972","journal-title":"Proceedings of the International Congress on the Occasion of the 40th Anniversary of the Dutch Road Safety Association"},{"key":"2026040113115366900_ref327","doi-asserted-by":"publisher","first-page":"3731","DOI":"10.1109\/ROBOT.2008.4543783","article-title":"Artificial potential functions for highway driving with collision avoidance","author":"Wolf","year":"2008","journal-title":"2008 IEEE International Conference on Robotics and Automation"},{"key":"2026040113115366900_ref328","doi-asserted-by":"publisher","first-page":"838","DOI":"10.1109\/SMC.2016.7844344","article-title":"Dynamic potential-model-based feature for lane change prediction","author":"Woo","year":"2016","journal-title":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)"},{"issue":"11","key":"2026040113115366900_ref329","doi-asserted-by":"publisher","first-page":"11295","DOI":"10.1109\/TVT.2021.3115018","article-title":"HSTA: A Hierarchical Spatio-Temporal Attention Model for Trajectory Prediction","volume":"70","author":"Wu","year":"2021","journal-title":"IEEE Transactions on Vehicular Technology"},{"issue":"6","key":"2026040113115366900_ref330","doi-asserted-by":"publisher","first-page":"2136","DOI":"10.1109\/TITS.2018.2863939","article-title":"Aware of Scene Vehicles\u2014Probabilistic Modeling of Car-Following Behaviors in Real-World Traffic","volume":"20","author":"Xu","year":"2018","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"issue":"1","key":"2026040113115366900_ref331","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1080\/21680566.2018.1447407","article-title":"Simulation of turning vehicles\u2019 behaviors at mixed-flow intersections based on potential field theory","volume":"7","author":"Xu","year":"2019","journal-title":"Transportmetrica B: Transport Dynamics"},{"key":"2026040113115366900_ref332","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2201.01733","article-title":"Modeling Human Driver Interactions Using an Infinite Policy Space Through Gaussian Processes","author":"Yaldiz","year":"2022","journal-title":"arXiv preprint arXiv:2201.01733"},{"issue":"5","key":"2026040113115366900_ref333","doi-asserted-by":"publisher","first-page":"1719","DOI":"10.1109\/TITS.2018.2834910","article-title":"Model and simulation of the heterogeneous traffic flow of the urban signalized intersection with an island work zone","volume":"20","author":"Yang","year":"2018","journal-title":"IEEE Transactions on intelligent transportation systems"},{"key":"2026040113115366900_ref334","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2101.03554","article-title":"Sub-Goal Social Force Model for Collective Pedestrian Motion Under Vehicle Influence","author":"Yang","year":"2021","journal-title":"arXiv preprint arXiv:2101.03554"},{"key":"2026040113115366900_ref335","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2011.00583","article-title":"An overview of multi-agent reinforcement learning from game theoretical perspective","author":"Yang","year":"2020","journal-title":"arXiv preprint arXiv:2011.00583"},{"key":"2026040113115366900_ref336","doi-asserted-by":"publisher","first-page":"9711","DOI":"10.1109\/ICRA.2019.8794474","article-title":"Egocentric Vision-based Future Vehicle Localization for Intelligent Driving Assistance Systems","author":"Yao","year":"2019","journal-title":"International Conference on Robotics and Automation"},{"issue":"9","key":"2026040113115366900_ref337","doi-asserted-by":"publisher","first-page":"1005","DOI":"10.1177\/0361198120933271","article-title":"Using artificial potential field theory for a cooperative control model in a connected and automated vehicles environment","volume":"2674","author":"Yi","year":"2020","journal-title":"Transportation Research Record"},{"key":"2026040113115366900_ref338","doi-asserted-by":"publisher","first-page":"140","DOI":"10.1016\/j.trc.2018.01.016","article-title":"A human-like game theory-based controller for automatic lane changing","volume":"88","author":"Yu","year":"2018","journal-title":"Transportation Research Part C: Emerging Technologies"},{"key":"2026040113115366900_ref339","doi-asserted-by":"publisher","first-page":"9813","DOI":"10.1109\/ICCV48922.2021.00967","article-title":"Agentformer: Agent-aware transformers for socio-temporal multi-agent forecasting","author":"Yuan","year":"2021","journal-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision"},{"key":"2026040113115366900_ref340","author":"Zajonc","year":"1966","journal-title":"Social psychology: An experimental approach"},{"issue":"3","key":"2026040113115366900_ref341","doi-asserted-by":"publisher","first-page":"4978","DOI":"10.1109\/LRA.2021.3068657","article-title":"Urban Driving Games With Lexicographic Preferences and Socially Efficient Nash Equilibria","volume":"6","author":"Zanardi","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"2026040113115366900_ref342","doi-asserted-by":"publisher","first-page":"1292","DOI":"10.1109\/LRA.2021.3135030","article-title":"Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games With Prioritized Metrics","volume":"7","author":"Zanardi","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2026040113115366900_ref343","doi-asserted-by":"publisher","first-page":"532","DOI":"10.1109\/IROS51168.2021.9636035","article-title":"Lanercnn: Distributed representations for graph-centric motion forecasting","author":"Zeng","year":"2021","journal-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"2026040113115366900_ref344","doi-asserted-by":"publisher","DOI":"10.31234\/osf.io\/p8dxn","article-title":"Should I stay or should I go? Evidence accumulation drives decision making in human drivers","author":"Zgonnikov","year":"2021","journal-title":"PsyArXiv"},{"key":"2026040113115366900_ref345","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1910.03088","article-title":"Interaction dataset: An international, adversarial and cooperative motion dataset in interactive driving scenarios with semantic maps","author":"Zhan","year":"2019","journal-title":"et al."},{"key":"2026040113115366900_ref346","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1910.03088","article-title":"INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps","author":"Zhan","year":"2019","journal-title":"arXiv:1910.03088 [cs, eess]"},{"issue":"7","key":"2026040113115366900_ref347","doi-asserted-by":"publisher","first-page":"6446","DOI":"10.1109\/TITS.2021.3057645","article-title":"Spatiotemporal learning of multivehicle interaction patterns in lane-change scenarios","volume":"23","author":"Zhang","year":"2022","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref348","doi-asserted-by":"publisher","first-page":"4323","DOI":"10.1109\/ITSC.2019.8917212","article-title":"A general framework of learning multi-vehicle interaction patterns from video","author":"Zhang","year":"2019","journal-title":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)"},{"key":"2026040113115366900_ref349","doi-asserted-by":"publisher","DOI":"10.4271\/2020-01-5113","article-title":"A Multimodal States Based Vehicle Descriptor and Dilated Convolutional Social Pooling for Vehicle Trajectory Prediction","author":"Zhang","year":"2021","journal-title":"Tech. rep."},{"key":"2026040113115366900_ref350","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2111.01592","article-title":"Trajectory Prediction with Graph-based Dual-scale Context Fusion","author":"Zhang","year":"2021","journal-title":"arXiv preprint arXiv:2111.01592"},{"issue":"1","key":"2026040113115366900_ref351","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1109\/TIV. 2019.2955367","article-title":"A game theoretic model predictive controller with aggressiveness estimation for mandatory lane change","volume":"5","author":"Zhang","year":"2019","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"2026040113115366900_ref352","doi-asserted-by":"publisher","first-page":"1435","DOI":"10.23919\/SICE48898.2020.9240387","article-title":"Spatial attention for autonomous decision-making in highway scene","author":"Zhang","year":"2020","journal-title":"2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)"},{"key":"2026040113115366900_ref353","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1016\/j.trc.2019.09.009","article-title":"Learning v2v interactive driving patterns at signalized intersections","volume":"108","author":"Zhang","year":"2019","journal-title":"Transportation Research Part C: Emerging Technologies"},{"issue":"5","key":"2026040113115366900_ref354","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100211","article-title":"Human-like Interactive Behavior Generation for Autonomous Vehicles: A Bayesian Game-theoretic Approach with Turing Test","volume":"4","author":"Zhang","year":"2022","journal-title":"Advanced Intelligent Systems"},{"key":"2026040113115366900_ref355","doi-asserted-by":"publisher","first-page":"12126","DOI":"10.1109\/CVPR.2019.01240","article-title":"Multi-agent tensor fusion for contextual trajectory prediction","author":"Zhao","year":"2019","journal-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition"},{"key":"2026040113115366900_ref356","doi-asserted-by":"publisher","first-page":"453","DOI":"10.1109\/ITSC48978.2021.9564702","article-title":"Yield or Rush? Social-Preference-Aware Driving Interaction Modeling Using Game-Theoretic Framework","author":"Zhao","year":"2021","journal-title":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)"},{"key":"2026040113115366900_ref357","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/IJCNN48605.2020.9206770","article-title":"Gisnet: Graph-based information sharing network for vehicle trajectory prediction","author":"Zhao","year":"2020","journal-title":"2020 International Joint Conference on Neural Networks (IJCNN)"},{"key":"2026040113115366900_ref358","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1016\/j.trb.2013.11.009","article-title":"Recent developments and research needs in modeling lane changing","volume":"60","author":"Zheng","year":"2014","journal-title":"Transportation research part B: methodological"},{"issue":"5","key":"2026040113115366900_ref359","doi-asserted-by":"publisher","first-page":"2669","DOI":"10.1109\/TITS.2020.2973751","article-title":"Driving behavior prediction considering cognitive prior and driving context","volume":"22","author":"Zhou","year":"2020","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"2026040113115366900_ref360","doi-asserted-by":"publisher","first-page":"1761","DOI":"10.1109\/IVS.2018.8500491","article-title":"A field-based representation of surrounding vehicle motion from a monocular camera","author":"Zhu","year":"2018","journal-title":"2018 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"2026040113115366900_ref361","first-page":"1433","article-title":"Maximum entropy inverse reinforcement learning","volume":"8","author":"Ziebart","year":"2008","journal-title":"et al."}],"container-title":["Foundations and Trends\u00ae in Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/ftrob\/article-pdf\/10\/3-4\/198\/11136369\/2300000078en.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.emerald.com\/ftrob\/article-pdf\/10\/3-4\/198\/11136369\/2300000078en.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T18:22:15Z","timestamp":1777486935000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.emerald.com\/ftrob\/article\/10\/3-4\/198\/1331387\/Social-Interactions-for-Autonomous-Driving-A"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11,24]]},"references-count":361,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2022,11,24]]}},"URL":"https:\/\/doi.org\/10.1561\/2300000078","relation":{},"ISSN":["1935-8253","1935-8261"],"issn-type":[{"value":"1935-8253","type":"print"},{"value":"1935-8261","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,11,24]]}}}