Method and a system for generating training data for training a motion planner

Abstract

A method and server for motion planning of an autonomous vehicle are provided. The method comprises: receiving an original dataset including a plurality of trajectories for the autonomous vehicle, the plurality of trajectories being distributed over a predetermined plurality of behaviors according to an initial distribution; acquiring an indication of a target distribution of the plurality of trajectories over the predetermined plurality of behaviors; determining a difference between the initial and target distributions, thereby identifying behaviors, for which additional trajectories are to be generated for adjusting the initial distribution of the plurality of trajectories to the target distribution; generating, using the plurality of trajectories in the original dataset and the additional trajectories, an augmented dataset having the target distribution of trajectories over the predetermined plurality of behaviors; and training a motion planner model to simulate motion of the autonomous vehicle based on the augmented plurality of trajectories.