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With rapidly developing autonomous vehicle (AV) technologies, the optimal driving strategy should consider multi-objective optimization problems of large-scale transportation systems, including safety and efficiency. Different driving strategies have different performance, and there is an interaction between vehicles with different strategies. Since the Nash equilibrium is hard to find for an n-player game, it is difficult to get an analytical solution to this multi-objective optimizationdoi:10.1049/itr2.12076 fatcat:kmtq7e63vrdcbelo4srt3qte4e