Decision modeling for automated driving in dilemmas based on bidirectional value alignment of moral theory values and fair human moral values

• This paper realizes a two-way value alignment between the theoretical value of morality and the moral value of human fairness, providing a satisfactory moral decision for moral dilemmas. • This paper provides an explainable dilemma and avoids the one-sidedness of making decisions using only ethical theories or human decision-making data. • In response to the complex dilemma scenario, this paper utilizes multiple moral theories that work together to help automated driving make ethical decisions. • In response to the problem of biased human ethical data, this paper uses human fair moral values obtained from the counterfactual fairness approach to provide feedback on dilemma decisions obtained using moral theory. The decision-making issues in autonomous driving dilemmas, namely, the inevitable personal injury accidents, have become a key factor affecting the future development of autonomous driving. Currently, the main difficulty in dilemma decision-making problems lies in the moral controversies involved. To address this challenge, this paper proposes a dilemma decision model for autonomous driving with bidirectional value alignment of moral theory values and human moral values. First, this paper utilizes the counterfactual fairness to eliminate personal bias and learn fair human values from human feedback. Then, the dilemma decision problem for autonomous driving is solved by bidirectional value alignment of moral values fair human values. Through real human decision-making data from the MM experiment, the necessity of establishing this model is demonstrated, and its effectiveness and stability are verified in a virtual environment. The experimental results are shown that compared to other ethical decision-making methods, this model is more in line with ethical morals and human values. It also avoids introducing discriminatory elements from human values into the model’s dilemma decisions, providing better interpretability for decisions and offering superior solutions for dilemmas.