  Motivated by the need to develop simulation tools for verification and
validation of autonomous driving systems operating in traffic consisting of
both autonomous and human-driven vehicles, we propose a framework for modeling
vehicle interactions at uncontrolled intersections. The proposed interaction
modeling approach is based on game theory with multiple concurrent
leader-follower pairs, and accounts for common traffic rules. We parameterize
the intersection layouts and geometries to model uncontrolled intersections
with various configurations, and apply the proposed approach to model the
interactive behavior of vehicles at these intersections. Based on simulation
results in various traffic scenarios, we show that the model exhibits
reasonable behavior expected in traffic, including the capability of
reproducing scenarios extracted from real-world traffic data and reasonable
performance in resolving traffic conflicts. The model is further validated
based on the level-of-service traffic quality rating system and demonstrates
manageable computational complexity compared to traditional multi-player
game-theoretic models.
