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Building simulation environments for developing and testing autonomousvehicles necessitates that the simulators accurately model the statisticalrealism of the real-world environment, including the interaction with othervehicles driven by human drivers. To address this requirement, an accuratehuman behavior model is essential to incorporate the diversity and consistencyof human driving behavior. We propose a mathematical framework for designing adata-driven simulation model that simulates human driving behavior morerealistically than the currently used physics-based simulation models.Experiments conducted using the NGSIM dataset validate our hypothesis regardingthe necessity of considering the complexity, diversity, and consistency ofhuman driving behavior when aiming to develop realistic simulators.

Challenges of Data-Driven Simulation of Diverse and Consistent Human Driving Behaviors