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Pedestrian safety is of paramount importance for intelligent transportation systems. This study focuses on the scenarios where pedestrians appear as crowds and interact with moving vehicles in a relatively-free space. Based on social force model (SFM), a vehicle-crowd interaction (VCI) model is pro- posed to describe both the behavior of crowd pedestrians and vehicle. Specifically, a heuristic-based and effective modeling of vehicle influence on pedestrians is designed and incorporated into the crowd-only SFM. Qualitative analysis of systematic simulations of various VCI scenarios demonstrates the effective- ness of the proposed model. This model can effectively describe the VCI scenarios such as vehicle approaching from different directions, vehicle zigzagging, and vehicle sharply turning.