In one embodiment, a computer-implemented method of operating an autonomous driving vehicle (ADV) includes perceiving a driving environment surrounding the ADV based on sensor data obtained from one or more sensors mounted on the ADV, determining a driving scenario, in response to a driving decision based on the driving environment, applying a predetermined machine-learning model to data representing the driving environment and the driving scenario to generate a set of one or more driving parameters, and planning a trajectory to navigate the ADV using the set of the driving parameters according to the driving scenario through the driving environment.
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