Aurora Operations, Inc.

Skandavimal Shridhar

James Andrew Bagnell

Brian C Becker

Davis Edward King

Xinyan Yan

Drew Edward Steedly

The present disclosure provides an example method for validating a trajectory generated by an autonomous vehicle control system (AV trajectory) in a driving scenario. The example method includes (a) obtaining the AV trajectory and a reference trajectory, wherein the reference trajectory describes a desired motion of a vehicle in the driving scenario; (b) determining a plurality of component divergence values for a plurality of divergence metrics, wherein a respective divergence value characterizes a respective difference between the AV trajectory and the reference trajectory; (c) providing the plurality of component divergence values to a machine-learned model to generate a score that indicates an aggregate divergence between the AV trajectory and the reference trajectory, wherein the machine-learned model comprises a plurality of learned parameters defining an influence of the plurality of component divergence values on the score; and (d) validating the AV trajectory based on the score.

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Pittsburgh, PA, United States of America

Skandavimal Shridhar