A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. To generate the simulated vehicles, perception data from a plurality of perception data sensors is received. Configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each simulated dynamic vehicle of a plurality of simulated dynamic vehicles are obtained. A target position and target speed are generated for each simulated dynamic vehicle of the plurality of simulated dynamic vehicles, the generated target positions and target speeds being based on the perception data and the configuration instructions and data. A plurality of trajectories and acceleration profiles to transition each of the plurality of simulated dynamic vehicles from a current position and speed to the corresponding target position and target speed is generated.
AUTONOMOUS VEHICLE MOTION PLANNING