A simplified force model for mixed traffic simulation

We present a simplified force-based heterogeneous traffic simulation model to facilitate consistent adjustment of the parameters involved. Different from previous work which requires the adjustment of multiple ad hoc parameters to produce satisfactory results, our approach can achieve similar results by using clear and meaningful parameters to simulate interactions between various kinds of road users. To simulate diverse and realistic motions of road users, we parameterize the coefficients of the force model for better detailed motion control. Our approach is also scalable to new types of road users, and facilitates an object-oriented implementation with high performance. We validate our framework with extensive experiments.