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In this paper, we develop a socially cooperative optimal control framework to address the motion planning problem for connected and automated vehicles (CAVs) in mixed traffic using social value orientation (SVO) and a potential game approach. In the proposed framework, we formulate the interaction between a CAV and a human-driven vehicle (HDV) as a simultaneous game where each vehicle minimizes a weighted sum of its egoistic objective and a cooperative objective. The SVO angles are used toarXiv:2203.17106v2 fatcat:astl6fmbgfc23ojrvx2yb7w2sm