ISFM4Sim: A Two-Wheeler Driving Behavior Model for Simulation Testing of Autonomous Vehicles

The interaction performance of autonomous vehicles (AVs) is of significant importance, especially in scenarios where AVs interact with two-wheelers at intersections. These scenarios are characterized by high exposure and hazard rates, and the behavior of two-wheelers in such scenarios is complex and variable. Therefore, it is necessary to accurately model the behavior of two-wheelers in severe conflict scenarios to support more reasonable and comprehensive testing results of AVs. In this paper, a two-wheeler driving behavior model (Improved Social Force Model for Simulation, ISFM4Sim) is proposed for simulation testing of AVs. On one hand, in order to apply the model to intersections with similar topology, the boundary repulsive forces are removed. The error in the ablation experiment result only increased by about 0.27%, which suggests that the forces have little contribution in severe conflict scenarios. On the other hand, by adding a dynamics module and modifying the model output to control signals, it is realized to apply the model in a simulation environment. Finally, simulation experiments demonstrate that ISFM4Sim performs well in bidirectional interactions and has good potential for testing of AVs.