Trust-Aware Embodied Bayesian Persuasion for Mixed-Autonomy

Safe and efficient interaction between autonomous vehicles (AVs) and human-driven vehicles (HVs) is a critical challenge for future transportation systems. While game-theoretic models capture how AVs influence HVs, they often suffer from a long-term decay of influence and can be perceived as manipulative, eroding the human's trust. This can paradoxically lead to riskier human driving behavior over repeated interactions. In this paper, we address this challenge by proposing the Trust-Aware Embodied Bayesian Persuasion (TA-EBP) framework. Our work makes three key contributions: First, we apply Bayesian persuasion to model communication at traffic intersections, offering a transparent alternative to traditional game-theoretic models. Second, we introduce a trust parameter to the persuasion framework, deriving a theorem for the minimum trust level required for influence. Finally, we ground the abstract signals of Bayesian persuasion theory into a continuous, physically meaningful action space, deriving a second theorem for the optimal signal magnitude, realized as an AV's forward nudge. Additionally, we validate our framework in a mixed-autonomy traffic simulation, demonstrating that TA-EBP successfully persuades HVs to drive more cautiously, eliminating collisions and improving traffic flow compared to baselines that either ignore trust or lack communication. Our work provides a transparent and non-strategic framework for influence in human-robot interaction, enhancing both safety and efficiency.