To Signal or Not to Signal? A Non-cooperative Game-Theoretic Approach to Discretionary Communication Between Road Users

Reciprocal communication between road users is a vital element of road user interaction. Non-cooperative game theory is an effective framework for modelling and characterising communicative behaviour between road users, which enables the study of emergent benefits for both the issuer and recipient of communicative signals. In this paper, we introduce discretionary communication to gain an advantage over the other road user by masking one's intent if beneficial to do so. We conduct a series of experiments with simulated interactions and compare interaction outcomes where communication is mandatory against those where communication is discretionary. Our findings further support the premise that non-cooperative game theory is an effective paradigm for modelling and producing emergent behaviours which benefit the network. Moreover, we see that including a layer of <i>discretionary</i> communication reaps benefits in interaction outcome to the communicator. It also provides benefits in safety to all parties involved above and beyond the benefits seen from mandatory communication.