Semantic Scholar Open Access 2020 65 sitasi

Ethical Decision-Making Platform in Autonomous Vehicles With Lexicographic Optimization Based Model Predictive Controller

Hong Wang Yanjun Huang A. Khajepour Dongpu Cao Chen Lv

Abstrak

Ethical decision-making during inevitable crashes, especially when humans involved, has become a big and sensitive roadblock for future mass adoption of autonomous vehicles. Towards addressing this challenge, this paper proposes a predictive control framework for ethical decision-making in autonomous driving using rational ethics. For flexibly implementing of ethical rules, the Lexicographic Optimization-based model predictive controller (LO-MPC) has been designed, in which obstacles and constraints are prioritized. Simulation environment is set up in PreScan, with different edge cases. The results show that the proposed LO-MPC approach has the capability to deal with the ethical decision-making during inevitable crashes by avoiding the obstacles with the assumed priority orders compared with traditional decision-making algorithm.

Topik & Kata Kunci

Computer Science

Penulis (5)

Hong Wang

Yanjun Huang

A. Khajepour

Dongpu Cao

Chen Lv

Format Sitasi

APA MLA BibTeX

Wang, H., Huang, Y., Khajepour, A., Cao, D., Lv, C. (2020). Ethical Decision-Making Platform in Autonomous Vehicles With Lexicographic Optimization Based Model Predictive Controller. https://doi.org/10.1109/tvt.2020.2996954

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Informasi Jurnal

Tahun Terbit: 2020
Bahasa: en
Total Sitasi: 65×
Sumber Database: Semantic Scholar
DOI: 10.1109/tvt.2020.2996954
Akses: Open Access ✓