scholarly journals A Genetic Approach to the Ethical Knob

2020 ◽  
Author(s):  
Giovanni Iacca ◽  
Francesca Lagioia ◽  
Andrea Loreggia ◽  
Giovanni Sartor
Keyword(s):  
Autonomous Vehicles ◽  
Social Values ◽  
Ethical Dilemmas ◽  
Autonomous Vehicle ◽  
Moral Dilemmas ◽  
Legal Issues ◽  
Genetic Approach ◽  
Novel Approach ◽  
New Perspective ◽  
Accident Scenarios

As Autonomous vehicles (AVs) are entering shared roads, the challenge of designing and implementing a completely autonomous vehicle is still open. Aside from technological issues regarding how to manage the complexity of the environment, AVs raise difficult legal issues and ethical dilemmas, especially in unavoidable accident scenarios. In this context, a vast speculation depicting moral dilemmas has developed in recent years. A new perspective was proposed: an “Ethical Knob” (EK), enabling passengers to ethically customise their AVs, namely, to choose between different settings corresponding to different moral approaches or principles. In this contribution we explore how an AV can automatically learn to determine the value of its “Ethical Knob” in order to achieve a trade-off between the ethical preferences of passengers and social values, learning from experienced instances of collision. To this end, we propose a novel approach based on a genetic algorithm to optimize a population of neural networks. We report a detailed description of simulation experiments as well as possible applications.

scholarly journals Self-protective and self-sacrificing preferences of pedestrians and passengers in moral dilemmas involving autonomous vehicles

PLoS ONE ◽  
2021 ◽  
Vol 16 (12) ◽  
pp. e0261673
Author(s):  
Maike M. Mayer ◽  
Raoul Bell ◽  
Axel Buchner
Keyword(s):  
Social Desirability ◽  
Autonomous Vehicles ◽  
Critical Incidents ◽  
Autonomous Vehicle ◽  
Moral Dilemmas ◽  
Road Users ◽  
Course Of Action ◽  
Moral Decisions ◽  
Conflicting Interests ◽  
Accident Scenarios

Upon the introduction of autonomous vehicles into daily traffic, it becomes increasingly likely that autonomous vehicles become involved in accident scenarios in which decisions have to be made about how to distribute harm among involved parties. In four experiments, participants made moral decisions from the perspective of a passenger, a pedestrian, or an observer. The results show that the preferred action of an autonomous vehicle strongly depends on perspective. Participants’ judgments reflect self-protective tendencies even when utilitarian motives clearly favor one of the available options. However, with an increasing number of lives at stake, utilitarian preferences increased. In a fifth experiment, we tested whether these results were tainted by social desirability but this was not the case. Overall, the results confirm that strong differences exist among passengers, pedestrians, and observers about the preferred course of action in critical incidents. It is therefore important that the actions of autonomous vehicles are not only oriented towards the needs of their passengers, but also take the interests of other road users into account. Even though utilitarian motives cannot fully reconcile the conflicting interests of passengers and pedestrians, there seem to be some moral preferences that a majority of the participants agree upon regardless of their perspective, including the utilitarian preference to save several other lives over one’s own.

scholarly journals An Integrated Model for User State Detection of Subjective Discomfort in Autonomous Vehicles

Vehicles ◽  
2021 ◽  
Vol 3 (4) ◽  
pp. 764-777
Author(s):  
Dario Niermann ◽  
Alexander Trende ◽  
Klas Ihme ◽  
Uwe Drewitz ◽  
Cornelia Hollander ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Linear Models ◽  
Driving Simulator ◽  
Autonomous Vehicle ◽  
The Road ◽  
Novel Approach ◽  
Driving Scenario ◽  
On The Road ◽  
Using Data ◽  
Subjective Discomfort

The quickly rising development of autonomous vehicle technology and increase of (semi-) autonomous vehicles on the road leads to an increased demand for more sophisticated human–machine-cooperation approaches to improve trust and acceptance of these new systems. In this work, we investigate the feeling of discomfort of human passengers while driving autonomously and the automatic detection of this discomfort with several model approaches, using the combination of different data sources. Based on a driving simulator study, we analyzed the discomfort reports of 50 participants for autonomous inner city driving. We found that perceived discomfort depends on the driving scenario (with discomfort generally peaking in complex situations) and on the passenger (resulting in interindividual differences in reported discomfort extend and duration). Further, we describe three different model approaches on how to predict the passenger discomfort using data from the vehicle’s sensors as well as physiological and behavioral data from the passenger. The model’s precision varies greatly across the approaches, the best approach having a precision of up to 80%. All of our presented model approaches use combinations of linear models and are thus fast, transparent, and safe. Lastly, we analyzed these models using the SHAP method, which enables explaining the models’ discomfort predictions. These explanations are used to infer the importance of our collected features and to create a scenario-based discomfort analysis. Our work demonstrates a novel approach on passenger state modelling with simple, safe, and transparent models and with explainable model predictions, which can be used to adapt the vehicles’ actions to the needs of the passenger.

A Generalized Framework for Moral Dilemmas Involving Autonomous Vehicles: A Commentary on Gill

2020 ◽  
Vol 47 (2) ◽  
pp. 292-300
Author(s):  
Thomas P Novak
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Moral Dilemma ◽  
Moral Dilemmas ◽  
Consumer Experience ◽  
Responsibility Attribution ◽  
Person Perspective ◽  
Generalized Framework ◽  
Third Person ◽  
Third Person Perspective

Abstract By using scenarios based on moral dilemmas, Gill (2020) found that when consumers are riding in an autonomous vehicle (AV), they are more willing to harm a pedestrian than when they, themselves, are driving a regular car. By taking a first-person perspective, in contrast to most prior research that has taken a third-person perspective, the problem is framed in a personal way that allows identification of a mechanism of responsibility attribution. In this commentary, a generalized framework is developed in which we can locate the work of Gill (2020), as well as prior research that uses moral dilemmas, to understand how consumers believe that AVs should respond when faced with competing life-and-death alternatives. The framework shows the distinct positions that research to date has adopted, points out gaps in research, and suggests a family of four research agendas that can be pursued going forward, driven in large part by the perspective taken to the moral dilemma. Research employing these different perspectives, including the unresearched problem of taking the perspective of the object, holds promise for using moral dilemmas for enabling our understanding of consumer experience and consumer–object relationships with AVs.

scholarly journals Exploring Personalised Autonomous Vehicles to Influence User Trust

2020 ◽  
Vol 12 (6) ◽  
pp. 1170-1186
Author(s):  
Xu Sun ◽  
Jingpeng Li ◽  
Pinyan Tang ◽  
Siyuan Zhou ◽  
Xiangjun Peng ◽  
...  
Keyword(s):  
Experimental Study ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Major Determinant ◽  
Automated System ◽  
Driving Style ◽  
Novel Approach ◽  
The Impact ◽  
User Trust

AbstractTrust is a major determinant of acceptance of an autonomous vehicle (AV), and a lack of appropriate trust could prevent drivers and society in general from taking advantage of such technology. This paper makes a new attempt to explore the effects of personalised AVs as a novel approach to the cognitive underpinnings of drivers’ trust in AVs. The personalised AV system is able to identify the driving behaviours of users and thus adapt the driving style of the AV accordingly. A prototype of a personalised AV was designed and evaluated in a lab-based experimental study of 36 human drivers, which investigated the impact of the personalised AV on user trust when compared with manual human driving and non-personalised AVs. The findings show that a personalised AV appears to be significantly more reliable through accepting and understanding each driver’s behaviour, which could thereby increase a user’s willingness to trust the system. Furthermore, a personalised AV brings a sense of familiarity by making the system more recognisable and easier for users to estimate the quality of the automated system. Personalisation parameters were also explored and discussed to support the design of AV systems to be more socially acceptable and trustworthy.

Explicit Path Tracking by Autonomous Vehicles

Robotica ◽  
1992 ◽  
Vol 10 (6) ◽  
pp. 539-554 ◽  
Author(s):  
Dong Hun Shin ◽  
Sanjiv Singh ◽  
Ju Jang Lee
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Vehicle Control ◽  
Obstacle Detection ◽  
Experimental Results ◽  
Order Effects ◽  
Dynamical Models ◽  
First Order ◽  
Novel Approach ◽  
Kinematic Models

SUMMARYWe have suggested a novel approach to autonomously navigate a full sized autonomous vehicle that separately treats vehicle control and obstacle detection. In this paper we discuss the vehicle control that has enabled our autonomous vehicle to travel at speeds upto 20mph. We point out the limitations of existing schemes that restrict their consideration to kinematic models and show that it is possible to obtain an increase in performance through the use of approximate dynamical models that capture first–order effects. Our approach combines such a modeling philosophy with accurate feedback in world coordinates from sensors that have only recently become available. Experimental results of our implementation on NavLab, a modified van at CMU, are presented.

Vision-Based Navigation of Autonomous Vehicles in Roadway Environments with Unexpected Hazards

2019 ◽  
Vol 2673 (12) ◽  
pp. 494-507 ◽  
Author(s):  
Mhafuzul Islam ◽  
Mashrur Chowdhury ◽  
Hongda Li ◽  
Hongxin Hu
Keyword(s):  
Object Detection ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Semantic Segmentation ◽  
Steering Wheel ◽  
Potential Hazard ◽  
Driving System ◽  
Hazardous Object ◽  
Vision Based Navigation ◽  
Navigational System

Vision-based navigation of autonomous vehicles primarily depends on the deep neural network (DNN) based systems in which the controller obtains input from sensors/detectors, such as cameras, and produces a vehicle control output, such as a steering wheel angle to navigate the vehicle safely in a roadway traffic environment. Typically, these DNN-based systems in the autonomous vehicle are trained through supervised learning; however, recent studies show that a trained DNN-based system can be compromised by perturbation or adverse inputs. Similarly, this perturbation can be introduced into the DNN-based systems of autonomous vehicles by unexpected roadway hazards, such as debris or roadblocks. In this study, we first introduce a hazardous roadway environment that can compromise the DNN-based navigational system of an autonomous vehicle, and produce an incorrect steering wheel angle, which could cause crashes resulting in fatality or injury. Then, we develop a DNN-based autonomous vehicle driving system using object detection and semantic segmentation to mitigate the adverse effect of this type of hazard, which helps the autonomous vehicle to navigate safely around such hazards. We find that our developed DNN-based autonomous vehicle driving system, including hazardous object detection and semantic segmentation, improves the navigational ability of an autonomous vehicle to avoid a potential hazard by 21% compared with the traditional DNN-based autonomous vehicle driving system.

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

scholarly journals Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2244
Author(s):  
S. M. Yang ◽  
Y. A. Lin
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Optimal Path ◽  
Random Trees ◽  
Average Deviation ◽  
Lane Changes ◽  
Path Smoothing ◽  
Rapidly Exploring Random Trees

Safe path planning for obstacle avoidance in autonomous vehicles has been developed. Based on the Rapidly Exploring Random Trees (RRT) algorithm, an improved algorithm integrating path pruning, smoothing, and optimization with geometric collision detection is shown to improve planning efficiency. Path pruning, a prerequisite to path smoothing, is performed to remove the redundant points generated by the random trees for a new path, without colliding with the obstacles. Path smoothing is performed to modify the path so that it becomes continuously differentiable with curvature implementable by the vehicle. Optimization is performed to select a “near”-optimal path of the shortest distance among the feasible paths for motion efficiency. In the experimental verification, both a pure pursuit steering controller and a proportional–integral speed controller are applied to keep an autonomous vehicle tracking the planned path predicted by the improved RRT algorithm. It is shown that the vehicle can successfully track the path efficiently and reach the destination safely, with an average tracking control deviation of 5.2% of the vehicle width. The path planning is also applied to lane changes, and the average deviation from the lane during and after lane changes remains within 8.3% of the vehicle width.

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