SYSTEM AND METHOD OF ADAPTIVELY TUNING PARAMETERS IN ACTION PLANNING FOR AUTOMATED DRIVING

A method of adaptively tuning parameters in action planning for automated driving of a vehicle to a destination is provided. The method comprises receiving sensor data from a vehicle sensor, lane data of a road plan to the destination, and a plurality of first hyperparameters in a reinforcement learning agent at an initial state and an initial timestamp. The reinforcement learning agent has a planning policy. The method comprises adjusting the plurality of first hyperparameters via the planning policy having at least one first activation function to define an output defining a plurality of second hyperparameters. The method comprises determining a baseline trajectory action based on a trajectory reward value at a final state and a final timestamp. The method comprises modifying the baseline trajectory action between the initial state and the final state to define a refined trajectory action and controlling the vehicle based on the refined trajectory action.