COURTEOUS TRAJECTORY PLANNING FOR AUTOMATED VEHICLES

Systems and methods for driving trajectory planning of an automated vehicle. The system includes an electronic processor configured to determine a lane segment graph indicating allowable transitions between a plurality of lane segments. The electronic processor is also configured to determine a current type of traffic flow situation. The electronic processor is further configured to determine weighting factors for each of the allowable transitions based on aggregate observations of previous real-world traffic flow transitions for the current type of traffic flow situation. Each of the weighting factors indicate a likelihood of transition for a respective one of the allowable transitions. The electronic processor is also configured to determine a weighted lane segment graph based at least in part on the weighting factors. The electronic processor is further configured to determine a driving trajectory of the automated vehicle based at least in part on the weighted lane segment graph.