期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 69, 期 8, 页码 8164-8175出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2020.2996954
关键词
Decision making; Ethics; Tires; Optimization; Autonomous vehicles; Vehicle crash testing; Ethical decision-making; autonomous vehicles; Lexicographic Optimization; model predictive control; potential field
资金
- National Natural Science Foundation of China [U1964203]
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.
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