The behavior of self-driving cars must be compatible with an enormous set of conflicting and ambiguous objectives, from law, from ethics, from the local culture, and so on. This paper describes a new way to conveniently define the desired behavior for autonomous agents, which we use on the self-driving cars developed at nuTonomy. We define a "rulebook" as a pre-ordered set of "rules", each akin to a violation metric on the possible outcomes ("realizations"). The rules are partially ordered by priority. The semantics of a rulebook imposes a pre-order on the set of realizations. We study the compositional properties of the rulebooks, and we derive which operations we can allow on the rulebooks to preserve previously-introduced constraints. While we demonstrate the application of these techniques in the self-driving domain, the methods are domain-independent.

该论文介绍了一种定义自主体所需行为的新方法——“规则书”，包括一系列“规则”，每个规则类似于对可能结果（“实现”）的违规度量，并通过优先级部分排序。通过规则书的语义，我们可以对实现的集合施加预排序，研究了规则书的组合特性，并得出了如何在规则书上进行操作以保留先前引入的约束条件。尽管我们在自动驾驶领域展示了这些技术的应用，但这些方法是领域无关的。

使用规则书指定责任、伦理和文化感知行为