1. A system comprising:a data processor in a computing system;
a data collection system, executable by the data processor of the computing system, to collect training data comprising perception or sensor data and ground truth data, and perform a training phase to train a plurality of trajectory prediction models with the training data to produce a plurality of trained trajectory prediction models, the data collection system comprising sensor devices, the sensor devices comprising at least one image generating device, the sensor devices, installed at various traffic locations or installed on moving test vehicles, collecting perception or sensor data from the various traffic locations or from the moving test vehicles, the plurality of trained trajectory prediction models comprising at least one trained trajectory prediction model configured to model a variable level of simulated driver aggressiveness, the collected training data being transferred to the data collection system;
a vicinal scene data generator to generate, by the data processor, a different vicinal scenario for each simulated vehicle in an iteration of a simulation;
a memory for storage of vehicle intention data representing simulated vehicle or driver intentions for a plurality of different vehicle actions and behaviors; and
a trajectory simulation module, executable by the data processor of the computing system, the trajectory simulation module being configured to perform a simulation or operational phase to:
generate, by the data processor, a trajectory corresponding to the collected perception data and the vehicle intention data, execute, by the data processor, at least one of the plurality of trained trajectory prediction models to generate a predicted simulated vehicle trajectory for each of a plurality of simulated vehicles of the simulation based on a corresponding generated vicinal scenario and the vehicle intention data, the predicted simulated vehicle trajectory comprising data indicative of a degree of likelihood or probability that a particular simulated vehicle will traverse the corresponding predicted simulated vehicle trajectory, use the predicted simulated vehicle trajectory, and update, by the data processor, a state and trajectory of each of the plurality of simulated vehicles based on the predicted simulated vehicle trajectory, the plurality of trained trajectory prediction models being used for configuring a control system in an autonomous vehicle.