Driver models play a vital role in developing and verifying autonomous vehicles (AVs). Previously, they are mainly applied in traffic flow simulation to model driver behavior. With the development of AVs, driver models attract much attention again due to their potential contributions to AV safety assessment. The simulation-based testing method is an effective measure to accelerate AV testing due to its safe and efficient characteristics. Nonetheless, realistic driver models are prerequisites for valid simulation results. Additionally, an AV is assumed to be at least as safe as a careful and competent driver, which is modeled by driver models as well. Therefore, driver models are essential for AV safety assessment from the current perspective. However, no comparison or discussion of driver models is available regarding their utility to AVs in the last five years despite their necessities in the release of AVs. This motivates us to present a comprehensive survey of driver models in the paper and compare their applicability. Requirements for driver models as applied to AV safety assessment are discussed. A summary of driver models for simulation-based testing and AV benchmarks is provided. Evaluation metrics are defined to compare their strength and weakness. Finally, potential gaps in existing driver models are identified, which provide direction for future work. This study gives related researchers especially regulators an overview and helps them to define appropriate driver models for AVs.

翻译：驾驶员模型在自动驾驶汽车的开发和验证中发挥着至关重要的作用。以往，它们主要应用于交通流仿真以模拟驾驶员行为。随着自动驾驶汽车的发展，驾驶员模型因其对自动驾驶汽车安全评估的潜在贡献而再次受到广泛关注。基于仿真的测试方法因其安全、高效的特性，成为加速自动驾驶汽车测试的有效手段。然而，真实的驾驶员模型是获得有效仿真结果的先决条件。此外，自动驾驶汽车被认为至少应与由驾驶员模型模拟的谨慎且称职的驾驶员一样安全。因此，从当前视角来看，驾驶员模型对于自动驾驶汽车安全评估至关重要。然而，尽管驾驶员模型在自动驾驶汽车的发布中不可或缺，但近五年来却缺乏关于其在自动驾驶汽车中适用性的比较或讨论。这促使本文对驾驶员模型进行全面综述并比较其适用性。讨论了应用于自动驾驶汽车安全评估的驾驶员模型所需满足的要求。总结了用于基于仿真的测试和自动驾驶汽车基准测试的驾驶员模型。定义了评估指标以比较其优势与不足。最后，指出了现有驾驶员模型中的潜在空白，为未来工作指明了方向。本研究为相关研究人员尤其是监管机构提供了概述，并帮助他们为自动驾驶汽车确定合适的驾驶员模型。