System and method for generating realistic simulation data for training an autonomous driver

A method for training a model for generating simulation data for training an autonomous driving agent, comprising:

• analyzing real input data, collected from a driving environment, to identify a plurality of environment classes, a plurality of moving agent classes, and a plurality of movement pattern classes;
• generating a training environment, according to one environment class of the plurality of environment classes;
• and
• in at least one of a plurality of training iterations:
• generating, by a simulation generation model, a simulated driving environment according to the training environment and according to a plurality of generated training agents, each associated with one of the plurality of moving agent classes and one of the plurality of movement pattern classes;
• collecting simulated driving data from the simulated driving environment;
• and
• modifying at least one model parameter of the simulation generation model to minimize a difference between a simulation statistical fingerprint, computed using the simulated driving data, and a real statistical fingerprint, computed using the real input data.