AUTOMATIC COMFORT SCORE SYSTEM BASED ON HUMAN DRIVING REFERENCE DATA

Sensor data obtained from a plurality of sensors mounted on an ADV driving on a route is collected. A set of features from the sensor data are extracted, where the set of features including an acceleration and a speed of the ADV driving on the route. A first similarity between the ADV and a first driving behavior associated with a first type of drivers driving on the route is determined based on the set of features. A second similarity between the ADV and a second driving behavior associated with a second type of drivers driving on the route is determined based on the set of features. A comfort score of the ADV based on the first similarity and the second similarity is determined to evaluate a motion planning and control of the ADV.