Planning Autonomous Vehicle Maneuvering in Work Zones Through Game-Theoretic Trajectory Generation

Mayar Nour; Atrisha Sarkar; Mohamed H. Zaki

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arXiv · 2603.19556

Planning Autonomous Vehicle Maneuvering in Work Zones Through Game-Theoretic Trajectory Generation

Mayar Nour·Atrisha Sarkar·Mohamed H. Zaki

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Abstract

Work zone navigation remains one of the most challenging manoeuvres for autonomous vehicles (AVs), where constrained geometries and unpredictable traffic patterns create a high-risk environment. Despite extensive research on AV trajectory planning, few studies address the decision-making required to navigate work zones safely. This paper proposes a novel game-theoretic framework for trajectory generation and control to enhance the safety of lane changes in a work zone environment. By modelling the lane change manoeuvre as a non-cooperative game between vehicles, we use a game-theoretic planner to generate trajectories that balance safety, progress, and traffic stability. The simulation results show that the proposed game-theoretic model reduces the frequency of conflicts by 35 percent and decreases the probability of high risk safety events compared to traditional vehicle behaviour planning models in safety-critical highway work-zone scenarios.

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Mayar Nour, Atrisha Sarkar, Mohamed H. Zaki. 2026-03-20. Planning Autonomous Vehicle Maneuvering in Work Zones Through Game-Theoretic Trajectory Generation. https://arxiv.org/abs/2603.19556

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