Inferring autonomous driving rules from data

Provided are methods, systems, and computer program products for inferring and using vehicle trajectory standards including: obtaining 602 a training dataset associated with an autonomous vehicle action, the training dataset comprising trajectory data for a plurality of examples of the autonomous vehicle action and labels for each of the plurality of examples; generating a decision tree based on the trajectory data and the labels of the training dataset; determining 606 a vehicle trajectory standard based on the decision tree; and communicating 608 the vehicle trajectory standard to at least one autonomous vehicle, wherein the at least one autonomous vehicle uses the vehicle trajectory standard to select a vehicle trajectory for the at least one autonomous vehicle.