Thomas, GwenolaDonikian, Stephane2015-02-162015-02-1620001467-8659https://doi.org/10.1111/1467-8659.00399In order to populate virtual cities, it is necessary to specify the behaviour of dynamic entities such as pedestrians or car drivers. Since a complete mental model based on vision and image processing cannot be constructed in real time using purely geometrical information, higher levels of information are needed in a model of the virtual environment. For example, the autonomous actors of a virtual world would exploit the knowledge of the environment topology to navigate through it. In this article, we present a model of virtual urban environments using structures and information suitable for behavioural animations. Thanks to this knowledge, autonomous virtual actors can behave like pedestrians or car drivers in a complex city environment. A city modeler has been designed, using this model of urban environment, and enables complex urban environments for behavioural animation to be automatically produced.10.1111/1467-8659.0039971-80