| CPC B60W 60/0011 (2020.02) [B60W 30/18163 (2013.01); B60W 50/00 (2013.01); B60W 60/001 (2020.02); B60W 2050/0028 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2555/60 (2020.02)] | 18 Claims |
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1. A computer-implemented method comprising:
generating, by a processing device, a controlled trajectory of an autonomous driving vehicle (ADV) in a scenario, the controlled trajectory executable by the ADV to drive autonomously in the scenario;
receiving a set of data acquired in a plurality of driving demonstrations in the scenario;
identifying a distribution pattern of the set of data acquired, the distribution pattern indicating probabilities of driving trajectories in the scenario;
computing, by the processing device, a similarity score based on comparisons between the controlled trajectory and the distribution pattern of the plurality of driving demonstrations;
computing a first mean square error and a first similarity score between a first controlled trajectory generated by the processing device and the set of data of the plurality of driving demonstrations in the scenario;
computing a second mean square error and a second similarity score between a second controlled trajectory generated by the processing device and the set of data of the plurality of driving demonstrations in the scenario, wherein the first mean square error is greater than the second mean square error while the first similarity score is higher than the second similarity score; and
controlling, by the processing device, the ADV based on the first and the second mean square errors and the first and the second similarity scores.
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