考虑自动驾驶伦理的视角：车辆运动规划中的集体风险
Considering Perspectives for Automated Driving Ethics: Collective Risk in Vehicular Motion Planning
AI总结：
本文提出了一种考虑多视角风险的自动驾驶运动规划策略，通过平衡所有道路使用者的风险来提高整体交通安全性和效率，同时体现人类驾驶行为的伦理考量。
摘要：
最近的自动驾驶（AV）运动规划策略围绕着在道路上最小化风险而发展。然而，它们仅从AV的视角考虑风险，因此没有处理其决策对其他道路使用者的伦理性。我们主张，这种做法并不能减少每个道路使用者的风险，因为风险可能从每个道路使用者的视角不同。事实上，从AV的视角最小化风险并不意味着从其他道路使用者的视角也最小化了风险；事实上，它甚至可能增加。为了测试这一假设，我们提出了一种AV运动规划策略，支持在所有道路使用者的视角之间切换风险最小化策略。我们发现，从其他道路使用者的视角来看的风险通常与从AV的视角来看的风险不同。采取集体风险视角，即平衡所有道路使用者的风险，我们观察到一种能够最佳地最小化整体交通风险的AV，同时自身处于略微更高的风险，以他人的利益为代价，这与人类驾驶行为一致。此外，采用集体风险最小化策略还可以通过在其他道路使用者对AV有低风险估计时积极行动，从而对AV的出行效率有益。然而，当AV的计划行动对其他道路使用者来说更难以预测时，即与高风险相关时，AV会保守驾驶。我们主张，这种行为是一种自我反思，是社会可接受的AV行为的自然前提。我们得出结论，为了促进包括AV在内的道路交通中的伦理性，AV在决策中必须考虑每个道路使用者的风险视角。
英文摘要：
Recent automated vehicle (AV) motion planning strategies evolve around minimizing risk in road traffic. However, they exclusively consider risk from the AV's perspective and, as such, do not address the ethicality of its decisions for other road users. We argue that this does not reduce the risk of each road user, as risk may be different from the perspective of each road user. Indeed, minimizing the risk from the AV's perspective may not imply that the risk from the perspective of other road users is also being minimized; in fact, it may even increase. To test this hypothesis, we propose an AV motion planning strategy that supports switching risk minimization strategies between all road user perspectives. We find that the risk from the perspective of other road users can generally be considered different to the risk from the AV's perspective. Taking a collective risk perspective, i.e., balancing the risks of all road users, we observe an AV that minimizes overall traffic risk the best, while putting itself at slightly higher risk for the benefit of others, which is consistent with human driving behavior. In addition, adopting a collective risk minimization strategy can also be beneficial to the AV's travel efficiency by acting assertively when other road users maintain a low risk estimate of the AV. Yet, the AV drives conservatively when its planned actions are less predictable to other road users, i.e., associated with high risk. We argue that such behavior is a form of self-reflection and a natural prerequisite for socially acceptable AV behavior. We conclude that to facilitate ethicality in road traffic that includes AVs, the risk-perspective of each road user must be considered in the decision-making of AVs.
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