Software Architecture Proposal for Navigation and Decisions of Autonomous Ground Vehicles in Controlled Environments with Unavoidable Collision Scenarios

Abstract

In recent years the ethic of autonomous vehicles has become one of the main topics of discussion in the field of autonomous driving. In this paper, an approach for the problem of the ethics of autonomous vehicles and a proposal solution are presented. In order to address this issue, software architecture is proposed. This architecture will be in charge of the navigation of the vehicle and obstacle avoidance, furthermore, it will provide the necessary information to make decisions in case of unavoidable collisions. Using a fuzzy logic implementation, the objective is to generate a set of outputs that allow a secondary system to take decisions in a case of an unavoidable collision. The results obtained were validated using statistical data. As a whole, the system shows a competent ability to determine the situation and generate the outputs.