SYSTEM AND METHOD FOR DETERMINING REALISTIC TRAJECTORIES

Provided herein is a system and method of a vehicle that determines an action of a vehicle. The system comprises one or more sensors; one or more processors; and a memory storing instructions that, when executed by the one or more processors, causes the system to perform generating initial trajectories along a route to be travelled by the vehicle. The instructions further cause the system to perform acquiring one or more trajectories of other vehicles along the route, adjusting the initial trajectories based on the one or more trajectories of other vehicles, and navigating the vehicle based on the adjusted initial trajectories.