  Understanding how people view and interact with autonomous vehicles is
important to guide future directions of research. One such way of aiding
understanding is through simulations of virtual environments involving people
and autonomous vehicles. We present a simulation model that incorporates people
and autonomous vehicles in a shared urban space. The model is able to simulate
many thousands of people and vehicles in real-time. This is achieved by use of
GPU hardware, and through a novel linear program solver optimized for large
numbers of problems on the GPU. The model is up to 30 times faster than the
equivalent multi-core CPU model.
