  For a foreseeable future, autonomous vehicles (AVs) will operate in traffic
together with human-driven vehicles. Their planning and control systems need
extensive testing, including early-stage testing in simulations where the
interactions among autonomous/human-driven vehicles are represented. Motivated
by the need for such simulation tools, we propose a game-theoretic approach to
modeling vehicle interactions, in particular, for urban traffic environments
with unsignalized intersections. We develop traffic models with heterogeneous
(in terms of their driving styles) and interactive vehicles based on our
proposed approach, and use them for virtual testing, evaluation, and
calibration of AV control systems. For illustration, we consider two AV control
approaches, analyze their characteristics and performance based on the
simulation results with our developed traffic models, and optimize the
parameters of one of them.
