The human-like driving system is an essential technical way to improve the applicability and acceptance of an unmanned driving system by learning the knowledge and experience of human drivers. In order to solve the driving skills representation problem at trajectory and control level, by utilizing a large amount of collected real driving data, a hierarchical driver model based on trajectory primitives and operation primitives is proposed. The trajectory primitives are represented by the dynamic movement primitive, and the probabilistic extraction algorithm is applied to extract primitives from the unlabeled continuous trajectory data. The
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