TRAFFIC SIGNAL BEHAVIOR PARAMETER CONFIGURATION FOR AUTONOMOUS VEHICLES

Techniques are described herein for evaluating and tuning parameters for controlling the behavior of an autonomous vehicle in or near intersections controlled by traffic signals. A planning component of an autonomous vehicle may use a set of traffic signal parameters to compute trajectory costs for the vehicle associated with traversing an intersection controlled by a traffic signal in a non-permissible state (e.g., a red light). A parameter tuning system may execute driving simulations using the planning component and a candidate set of parameters to control the behavior of a simulation vehicle within a training data set of traffic signal intersections. The parameter tuning system may determine performance metrics based on the behaviors of the simulated vehicle and may execute a search algorithm to determine modified (e.g., optimal) parameter sets for controlling vehicles during real-world driving scenarios having intersections controlled by traffic signals.