# Studying the Impact of Semi-Cooperative Drivers on Overall Highway Flow

arXiv: https://arxiv.org/abs/2304.11693 · HTML: https://mlsanity.com/paper/2304.11693/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 23 references that are in the map.
- First posted on arXiv 23 Apr 2023.

## Builds on (most cited first, 5 of 5)

- [Imitating Driver Behavior with Generative Adversarial Networks](https://mlsanity.com/paper/1701.06699/) (2017)
- [Hierarchical Game-Theoretic Planning for Autonomous Vehicles](https://mlsanity.com/paper/1810.05766/) (2018)
- [Social Coordination and Altruism in Autonomous Driving](https://mlsanity.com/paper/2107.00200/) (2021)
- [Controllability Analysis and Optimal Control of Mixed Traffic Flow with Human-driven and Autonomous Vehicles](https://mlsanity.com/paper/2002.02099/) (2020)
- [Maximizing Road Capacity Using Cars that Influence People](https://mlsanity.com/paper/1807.04414/) (2018)

## Abstract (arXiv)

Semi-cooperative behaviors are intrinsic properties of human drivers and should be considered for autonomous driving. In addition, new autonomous planners can consider the social value orientation (SVO) of human drivers to generate socially-compliant trajectories. Yet the overall impact on traffic flow for this new class of planners remain to be understood. In this work, we present study of implicit semi-cooperative driving where agents deploy a game-theoretic version of iterative best response assuming knowledge of the SVOs of other agents. We simulate nominal traffic flow and investigate whether the proportion of prosocial agents on the road impact individual or system-wide driving performance. Experiments show that the proportion of prosocial agents has a minor impact on overall traffic flow and that benefits of semi-cooperation disproportionally affect egoistic and high-speed drivers.