Trajectory Generation Using Road Network Model

Enclosed are embodiments for trajectory generation using a road network model. In an embodiment, a method includes: obtaining, using at least one processor of a vehicle, a location of the vehicle; obtaining, using the at least one processor, sensor data collected at the location; obtaining, using the at least one processor, map data for the location; generating, using the one or more processors, at least on possible trajectory for at least one object at the location, wherein the possible trajectory is constrained in accordance with the map data; and predicting, using a machine learning model, a score for the at least one trajectory.