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This is a Experimental Study study.

Game-Aware MPC-DDP for Mixed Traffic: Safe, Efficient, and Comfortable Interactive Driving

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Game-based model integrates dinamic differential programming with predictions of human-driven vehicles, enhancing comfort and safety.

Proposed framework achieves an effective balance between safety and efficiency in automated driving environments.
Experimental evaluations demonstrate that the approach yields smoother trajectories with higher average speeds.
Game-theoretic predictions allow for more adaptive control inputs in response to human-driven vehicle behavior.
Comparisons with state-of-the-art methods highlight the framework's effectiveness in complex traffic scenarios.

WANG et al. (2025) studied this question.

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