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For a foreseeable future, autonomous vehicles (AVs) will operate in traffictogether with human-driven vehicles. Their planning and control systems needextensive testing, including early-stage testing in simulations where theinteractions among autonomous/human-driven vehicles are represented. Motivatedby the need for such simulation tools, we propose a game-theoretic approach tomodeling vehicle interactions, in particular, for urban traffic environmentswith unsignalized intersections. We develop traffic models with heterogeneous(in terms of their driving styles) and interactive vehicles based on ourproposed approach, and use them for virtual testing, evaluation, andcalibration of AV control systems. For illustration, we consider two AV controlapproaches, analyze their characteristics and performance based on thesimulation results with our developed traffic models, and optimize theparameters of one of them.

Game-theoretic Modeling of Traffic in Unsignalized Intersection Network for Autonomous Vehicle Control Verification and Validation