Method for controlling a driving behavior of an autonomously driving vehicle, processing device for performing the method, data storage medium and vehicle

A method for controlling a driving behavior of an autonomously driving vehicle, wherein a processing device performs the following steps for at least one region of a road network: receiving trace data of the region, wherein the trace data describe at least one trace of historic movements and/or behaviors of past traffic participants in the region, wherein the movements and/or behaviors are incompatible with and/or not anticipated by traffic regulations currently valid in the region; deriving rule data describing regular movements and/or behaviors of the past traffic participants described by the trace data; and providing the rule data to a motion model of the vehicle, wherein the vehicle comprises a driving control system (DCS) that plans and/or adapts a driving trajectory by detecting a traffic participant in the region and predicting a future behavior of the participant using the motion model.