  In shared spaces, motorized and non-motorized road users share the same space
with equal priority. Their movements are not regulated by traffic rules, hence
they interact more frequently to negotiate priority over the shared space. To
estimate the safeness and efficiency of shared spaces, reproducing the traffic
behavior in such traffic places is important. In this paper, we consider and
combine different levels of interaction between pedestrians and cars in shared
space environments. Our proposed model consists of three layers: a layer to
plan trajectories of road users; a force-based modeling layer to reproduce free
flow movement and simple interactions; and a game-theoretic decision layer to
handle complex situations where road users need to make a decision over
different alternatives. We validate our model by simulating scenarios involving
various interactions between pedestrians and cars and also car-to-car
interaction. The results indicate that simulated behaviors match observed
behaviors well.
