Systems and methods for autonomous driving based on human- driven data

A system comprising:

• at least one processor;
• and
• at least one non-transitory computer readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
• obtaining sensor data associated with an environment in which a vehicle operates;
• determining, a set of candidate trajectories based on the sensor data;
• determining, a human-driven trajectory based on the sensor data;
• generating, a trajectory score for one or more candidate trajectories of the set of candidate trajectories based on the human-driven trajectory;
• and
• causing an output to be provided to a device, based on the trajectory score generated for the one or more candidate trajectories, wherein the output comprises one or more of:
• the human-driven trajectory, the one or more candidate trajectories, and the trajectory score.

A non-transitory computer readable medium comprising instructions stored thereon that, when executed by at least one processor, cause the at least one processor to carry out operations comprising:

• obtaining sensor data associated with an environment in which a vehicle operates;
• determining a set of candidate trajectories based on the sensor data;
• determining a human-driven trajectory based on the sensor data;
• generating a trajectory score for one or more candidate trajectories of the set of candidate trajectories based on the human-driven trajectory;
• and
• causing an output to be provided based on the trajectory score generated for the one or more candidate trajectories, wherein the output comprises one or more of:
• the human-driven trajectory, the one or more candidate trajectories, and the trajectory score.