Learning to Drive Ethically: Embedding Moral Reasoning into Autonomous Driving

Abstract: Autonomous vehicles hold great promise for reducing traffic fatalities and improving transportation efficiency, yet their widespread adoption hinges on embedding robust ethical reasoning into routine and emergency maneuvers. Here, we present a hierarchical Safe Reinforcement Learning (Safe RL) framework that explicitly integrates moral considerations with standard driving objectives. At the decision level, a Safe RL agent is trained using a composite ethical risk cost, combining collision probability and harm severity, to generate high-level motion targets. A dynamic Prioritized Experience Replay mechanism amplifies learning from rare but critical, high-risk events. At the execution level, polynomial path planning coupled with Proportional-Integral-Derivative (PID) and Stanley controllers translates these targets into smooth, feasible trajectories, ensuring both accuracy and comfort. We train and validate our approach on rich, real-world traffic datasets encompassing diverse vehicles, cyclists, and pedestrians, and demonstrate that it outperforms baseline methods in reducing ethical risk and maintaining driving performance. To our knowledge, this is the first study of ethical decision-making for autonomous vehicles via Safe RL in real-world scenarios. Our results highlight the potential of combining formal control theory and data-driven learning to advance ethically accountable autonomy in complex, human-mixed traffic environments.