{"id":"https://openalex.org/W4415933686","doi":"https://doi.org/10.1109/jiot.2025.3629356","title":"A Game-Theoretic Framework of Interaction and Cooperative Driving for CAVs at Mixed Unsignalized Intersections","display_name":"A Game-Theoretic Framework of Interaction and Cooperative Driving for CAVs at Mixed Unsignalized Intersections","publication_year":2025,"publication_date":"2025-11-05","ids":{"openalex":"https://openalex.org/W4415933686","doi":"https://doi.org/10.1109/jiot.2025.3629356"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3629356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3629356","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yiming Cui","orcid":"https://orcid.org/0009-0000-3626-5711"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Cui","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-3626-5711","affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104234502","display_name":"Shiyu Fang","orcid":"https://orcid.org/0009-0000-2884-1504"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyu Fang","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-2884-1504","affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428500","display_name":"Qian Chen","orcid":"https://orcid.org/0000-0003-1281-6376"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Chen","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684138","display_name":"Yafei Wang","orcid":"https://orcid.org/0000-0003-4880-5054"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4880-5054","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055911707","display_name":"Peng Hang","orcid":"https://orcid.org/0000-0002-5843-0594"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Hang","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5843-0594","affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062319704","display_name":"Jian Sun","orcid":"https://orcid.org/0000-0001-5031-4938"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Sun","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5031-4938","affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering of the State, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Road and Traffic Engineering of the State, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5558,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85663996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"13","issue":"1","first_page":"1524","last_page":"1538"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.8319000005722046,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.8319000005722046,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.14159999787807465,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.005200000014156103,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5885000228881836},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.51910001039505},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43290001153945923},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.421999990940094},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.3653999865055084},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.3167000114917755},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.3165000081062317},{"id":"https://openalex.org/keywords/vehicle-safety","display_name":"Vehicle safety","score":0.31349998712539673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.763700008392334},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5885000228881836},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.51910001039505},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.421999990940094},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35690000653266907},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3167000114917755},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C178944661","wikidata":"https://www.wikidata.org/wiki/Q7832489","display_name":"Traffic conflict","level":4,"score":0.30169999599456787},{"id":"https://openalex.org/C3018929209","wikidata":"https://www.wikidata.org/wiki/Q1061983","display_name":"Safe driving","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C2779888511","wikidata":"https://www.wikidata.org/wiki/Q244156","display_name":"Traffic congestion","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2720000147819519},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2621000111103058},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.25679999589920044},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C2777636896","wikidata":"https://www.wikidata.org/wiki/Q1147899","display_name":"Road traffic safety","level":3,"score":0.2515000104904175},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3629356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3629356","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4028067933","display_name":null,"funder_award_id":"52472451","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4864744174","display_name":null,"funder_award_id":"2024-A002","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1584040247","https://openalex.org/W1983360738","https://openalex.org/W2080782477","https://openalex.org/W2124513914","https://openalex.org/W2137514195","https://openalex.org/W2284958039","https://openalex.org/W2462478264","https://openalex.org/W2562817597","https://openalex.org/W2626946401","https://openalex.org/W2782474430","https://openalex.org/W2806373172","https://openalex.org/W2809064993","https://openalex.org/W2899420039","https://openalex.org/W2968526727","https://openalex.org/W2976133733","https://openalex.org/W2990116160","https://openalex.org/W2991553555","https://openalex.org/W3029672601","https://openalex.org/W3087232517","https://openalex.org/W3091881817","https://openalex.org/W3099089609","https://openalex.org/W3105200428","https://openalex.org/W3171693280","https://openalex.org/W3178423299","https://openalex.org/W3202862992","https://openalex.org/W3212907084","https://openalex.org/W4205159341","https://openalex.org/W4226071977","https://openalex.org/W4288076087","https://openalex.org/W4296708457","https://openalex.org/W4298195308","https://openalex.org/W4308079996","https://openalex.org/W4312742187","https://openalex.org/W4315488581","https://openalex.org/W4327571609","https://openalex.org/W4381733136","https://openalex.org/W4390586183","https://openalex.org/W4390747816","https://openalex.org/W4395028057","https://openalex.org/W4396558261","https://openalex.org/W4407150239","https://openalex.org/W4410706633"],"related_works":[],"abstract_inverted_index":{"During":[0],"the":[1,24,109,112,117,182,190,214,218],"ongoing":[2],"development":[3],"and":[4,12,39,50,73,100,123,141,167,189,209],"proliferation":[5],"of":[6,111,120,217],"autonomous":[7,29],"driving,":[8],"human-driven":[9],"vehicles":[10,15],"(HDVs)":[11],"connected":[13],"automated":[14],"(CAVs)":[16],"will":[17],"coexist":[18],"in":[19,35,42,53,76,143,160],"mixed":[20,54,77,144],"traffic":[21,55,78,145,168],"environments":[22],"for":[23,69],"foreseeable":[25],"future.":[26],"However,":[27],"current":[28],"driving":[30,105,115],"systems":[31],"often":[32],"face":[33],"challenges":[34],"ensuring":[36],"optimal":[37],"safety":[38,122,140,177],"efficiency,":[40],"particularly":[41],"complex":[43],"conflict":[44],"scenarios.":[45],"To":[46,107],"address":[47],"these":[48],"shortcomings":[49],"improve":[51],"cooperation":[52,72],"environments,":[56],"this":[57],"paper":[58],"presents":[59],"a":[60,84,157,207],"game":[61],"theoretic":[62],"decision-making":[63],"method.":[64,219],"The":[65,131],"proposed":[66,113],"framework":[67],"accounts":[68],"both":[70,139],"CAV-CAV":[71],"CAV-HDV":[74],"interaction":[75],"at":[79],"un-signalized":[80],"intersections.":[81],"It":[82],"introduces":[83],"parameter":[85],"updating":[86],"mechanism":[87],"based":[88],"on":[89],"twin":[90],"games":[91],"to":[92,97,102,172],"dynamically":[93],"adjust":[94],"HDVs\u2019":[95],"parameters":[96],"better":[98],"predict":[99],"respond":[101],"variable":[103],"human":[104],"behaviors.":[106],"validate":[108],"effectiveness":[110],"cooperative":[114],"framework,":[116],"comparative":[118],"analysis":[119],"its":[121],"efficiency":[124,142],"with":[125,148],"other":[126],"established":[127],"methods":[128,173],"is":[129],"conducted.":[130],"results":[132],"demonstrate":[133],"that":[134,174],"our":[135,179],"method":[136],"successfully":[137],"ensures":[138],"environments.":[146],"Compared":[147],"reinforcement":[149],"learning":[150],"approaches":[151],"such":[152],"as":[153],"IPPO,":[154],"it":[155],"achieves":[156],"35\u201355%":[158],"improvement":[159],"success":[161],"rate":[162],"while":[163],"maintaining":[164],"decision":[165],"stability":[166],"efficiency.":[169],"In":[170],"contrast":[171],"enforce":[175],"strict":[176],"guarantees,":[178],"approach":[180],"improves":[181],"average":[183,191],"vehicle":[184],"speed":[185,193],"by":[186,194],"0.1\u20130.6":[187],"m/s":[188],"CAV":[192],"0.7\u20131.7":[195],"m/s,":[196],"without":[197],"compromising":[198],"safety.":[199],"Additionally,":[200],"several":[201],"validation":[202],"experiments":[203],"are":[204],"conducted":[205],"using":[206],"hardware-in-the-loop":[208],"human-in-the-loop":[210],"experimental":[211],"platform,":[212],"confirming":[213],"practical":[215],"applicability":[216]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-11-05T00:00:00"}
