  No human drives a car in a vacuum; she/he must negotiate with other road
users to achieve their goals in social traffic scenes. A rational human driver
can interact with other road users in a socially-compatible way through
implicit communications to complete their driving tasks smoothly in
interaction-intensive, safety-critical environments. This paper aims to review
the existing approaches and theories to help understand and rethink the
interactions among human drivers toward social autonomous driving. We take this
survey to seek the answers to a series of fundamental questions: 1) What is
social interaction in road traffic scenes? 2) How to measure and evaluate
social interaction? 3) How to model and reveal the process of social
interaction? 4) How do human drivers reach an implicit agreement and negotiate
smoothly in social interaction? This paper reviews various approaches to
modeling and learning the social interactions between human drivers, ranging
from optimization theory and graphical models to social force theory and
behavioral & cognitive science. We also highlight some new directions, critical
challenges, and opening questions for future research.
