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Specifically, AVs must exhibit safe responses when encountering previously unseen behaviors from human drivers with different driving styles. For example, aggressive drivers may cut off other vehicles to merge into a lane, or distracted drivers may fail to respond to changing road conditions. A key challenge is how to assess the onboard AV decision-making capabilities to detect and mitigate those potentially unsafe scenarios due to one or more external human-operated vehicles. We observe that AVs and other vehicles on the roadway may share common functional objectives (e.g., to navigate to a given target destination), but otherwise may be motivated by different non-functional objectives, such as safety, minimizing transport time, minimizing fuel consumption, etc. This paper introduces a modular and composable model- and game-based testing framework to enable an AV developer to operationally assess the robustness of an AV in response to human-based uncertainty. Specifically, this work uses goal models to declaratively specify functional and non-functional objectives of vehicles (both the AV under study and those representing external human-operated vehicles) to inform the game-based testing environment that incorporates real-world traffic infrastructure data. We demonstrate the model-based capabilities of our game-based testing approach on a number of scenarios based on real-world traffic accident data involving human drivers.<\/jats:p>","DOI":"10.1007\/s10270-025-01350-w","type":"journal-article","created":{"date-parts":[[2026,1,29]],"date-time":"2026-01-29T09:00:26Z","timestamp":1769677226000},"page":"135-161","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["SavviDriver: model-based framework for game-based testing of autonomous vehicles in diverse multi-agent traffic scenarios"],"prefix":"10.1007","volume":"25","author":[{"given":"Kenneth H.","family":"Chan","sequence":"first","affiliation":[]},{"given":"Sol","family":"Zilberman","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9825-5359","authenticated-orcid":false,"given":"Betty H. 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