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This paper presents TrolleyMod v1.0, an open-source platform based on theCARLA simulator for the collection of ethical decision-making data forautonomous vehicles. This platform is designed to facilitate experiments aimingto observe and record human decisions and actions in high-fidelity simulationsof ethical dilemmas that occur in the context of driving. Targeting experimentsin the class of trolley problems, TrolleyMod provides a seamless approach tocreating new experimental settings and environments with the realisticphysics-engine and the high-quality graphical capabilities of CARLA and theUnreal Engine. Also, TrolleyMod provides a straightforward interface betweenthe CARLA environment and Python to enable the implementation of customcontrollers, such as deep reinforcement learning agents. The results of suchexperiments can be used for sociological analyses, as well as the training andtuning of value-aligned autonomous vehicles based on social values that areinferred from observations.

TrolleyMod v1.0: An Open-Source Simulation and Data-Collection Platform for Ethical Decision Making in Autonomous Vehicles