System, Method, and Computer Program Product for Trajectory Scoring During an Autonomous Driving Operation Implemented with Constraint Independent Margins to Actors in the Roadway

Provided are autonomous vehicles (AV), computer program products, and methods for maneuvering an AV in a roadway, including receiving forecast information associated with predicted trajectories of one or more actors in a roadway, determining a relevant trajectory of an actor based on correlating a forecast for predicted trajectories of the actor with the trajectory of the AV, regenerate a distance table for the relevant trajectory previously generated for processing constraints, generate a plurality of margins for the AV to evaluate, the margins based on a plurality of margin types for providing information about risks and effects on passenger comfort associated with a future proximity of the AV to the actor, classifying an interaction between the AV and the actor based on a plurality of margins, and generating continuous scores for each candidate trajectory that is also within the margin of the actor generated for the relevant trajectory.