Driver models play a vital role in developing and verifying autonomous vehicles (AVs). Previously, they are mainly applied in traffic flow simulation to model realistic driver behavior. With the development of AVs, driver models attract much attention again due to their potential contributions to AV certification. The simulation-based testing method is considered 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. Therefore, driver models are inevitable for AV safety assessment. 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 in terms of their application to AV safety assessment are discussed. A summary of driver models for simulation-based testing and AV certification is provided. Evaluation metrics are defined to compare their strength and weakness. Finally, an architecture for a careful and competent driver model is proposed. Challenges and future work are elaborated. 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车辆（AV）的开发与验证中起着至关重要的作用。此前，它们主要用于交通流仿真中以模拟真实驾驶员行为。随着自动驾驶车辆的发展，由于其在AV认证中的潜在贡献，驾驶员模型再次受到广泛关注。基于仿真的测试方法因其安全高效的特性被视为加速AV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，自动驾驶车辆至少应具备与谨慎且称职的驾驶员同等的安全性。因此，驾驶员模型在AV安全评估中不可或缺。然而，尽管驾驶员模型在AV的发布中具有必要性，但过去五年中尚无关于其在AV应用中的比较或讨论。这促使我们在本文中对驾驶员模型进行全面综述并比较其适用性。本文讨论了驾驶员模型在AV安全评估应用中的需求，总结了用于仿真测试和AV认证的驾驶员模型，定义了评估指标以比较其优劣，最后提出了一种谨慎且称职的驾驶员模型架构，并阐述了挑战与未来工作。本研究为相关研究人员（尤其是监管机构）提供了整体视角，并有助于为AV制定合适的驾驶员模型。