CONTROL SYSTEM TESTING UTILIZING RULEBOOK SCENARIO GENERATION

Provided are methods for testing of a control system of a vehicle using generated rulebook based scenarios, which can include determining a simulated environment, receiving a hierarchical plurality of autonomous vehicle rules, determining a trajectory of a simulated vehicle within the simulated environment, generating a plurality of simulated scenarios for the simulated vehicle, identifying at least one violation of at least one autonomous vehicle rule by the simulated vehicle in a set of the simulated scenarios, determining a scenario score for each simulated scenario based on the violations, and identifying at least one simulated scenario for a trained neural network of a vehicle based on the scenario scores.