arXiv subjects

Lucas Elbert Suryana

Publications and source records attributed to Lucas Elbert Suryana.

6 recordsLinked to original sources

arXiv2026

Linking Behaviour and Perception to Evaluate Meaningful Human Control over Partially Automated Driving

Partial driving automation creates a tension: drivers remain legally responsible for vehicle behaviour, yet their active control is significantly reduced. This reduction undermines the engagement and sense of agency needed to intervene safely. Meaningful human control (MHC) has been proposed as a normative framework to address this tension. However, empirical methods for evaluating whether existing systems actually provide MHC remain underdeveloped. In this study, we investigated the extent to which drivers experience MHC when interacting with partially automated driving systems. Twenty-four drivers completed a simulator study involving silent automation failures under two modes - haptic shared control (HSC) and traded control (TC). We derived behavioural metrics from telemetry data, subjective perception scores from post-trial surveys and used them to test hypothesised relations between them derived from the properties of systems under MHC. The confirmatory analysis showed a significant negative correlation between the perception of the automated vehicle (AV) understanding the driver and conflict in steering torques. An exploratory analysis also revealed a surprising positive correlation between reaction times and the perception of sufficient control. Qualitative feedback from open-ended post-experiment questionnaires revealed that mismatches in intentions between the driver and automation, lack of safety, and resistance to driver inputs contribute to the reduction of perceived MHC, while subtle haptic guidance aligned with driver intent had a positive effect. These findings suggest that future designs should prioritise effortless driver interventions, transparent communication of automation intent, and context-sensitive authority allocation to strengthen meaningful human control in partially automated driving.

cs.HC↗

arXiv2026

CARE Drive A Framework for Evaluating Reason-Responsiveness of Vision Language Models in Automated Driving

Foundation models, including vision language models, are increasingly used in automated driving to interpret scenes, recommend actions, and generate natural language explanations. However, existing evaluation methods primarily assess outcome based performance, such as safety and trajectory accuracy, without determining whether model decisions reflect human relevant considerations. As a result, it remains unclear whether explanations produced by such models correspond to genuine reason responsive decision making or merely post hoc rationalizations. This limitation is especially significant in safety critical domains because it can create false confidence. To address this gap, we propose CARE Drive, Context Aware Reasons Evaluation for Driving, a model agnostic framework for evaluating reason responsiveness in vision language models applied to automated driving. CARE Drive compares baseline and reason augmented model decisions under controlled contextual variation to assess whether human reasons causally influence decision behavior. The framework employs a two stage evaluation process. Prompt calibration ensures stable outputs. Systematic contextual perturbation then measures decision sensitivity to human reasons such as safety margins, social pressure, and efficiency constraints. We demonstrate CARE Drive in a cyclist overtaking scenario involving competing normative considerations. Results show that explicit human reasons significantly influence model decisions, improving alignment with expert recommended behavior. However, responsiveness varies across contextual factors, indicating uneven sensitivity to different types of reasons. These findings provide empirical evidence that reason responsiveness in foundation models can be systematically evaluated without modifying model parameters.

cs.AI↗

arXiv2025

A Framework for Human-Reason-Aligned Trajectory Evaluation in Automated Vehicles

One major challenge for the adoption and acceptance of automated vehicles (AVs) is ensuring that they can make sound decisions in everyday situations that involve ethical tension. Much attention has focused on rare, high-stakes dilemmas such as trolley problems. Yet similar conflicts arise in routine driving when human considerations, such as legality, efficiency, and comfort, come into conflict. Current AV planning systems typically rely on rigid rules, which struggle to balance these competing considerations and often lead to behaviour that misaligns with human expectations. This paper introduces a reasons-based trajectory evaluation framework that operationalises the tracking condition of Meaningful Human Control (MHC). The framework represents human agents reasons (e.g., regulatory compliance) as quantifiable functions and evaluates how well candidate trajectories align with them. It assigns adjustable weights to agent priorities and includes a balance function to discourage excluding any agent. To demonstrate the approach, we use a real-world-inspired overtaking scenario, which highlights tensions between compliance, efficiency, and comfort. Our results show that different trajectories emerge as preferable depending on how agents reasons are weighted, and small shifts in priorities can lead to discrete changes in the selected action. This demonstrates that everyday ethical decisions in AV driving are highly sensitive to the weights assigned to the reasons of different human agents.

cs.RO↗

arXiv2025

A Framework for Ethical Decision-Making in Automated Vehicles through Human Reasons-based Supervision

Ethical dilemmas are a common challenge in everyday driving, requiring human drivers to balance competing priorities such as safety, efficiency, and rule compliance. However, much of the existing research in automated vehicles (AVs) has focused on high-stakes "trolley problems," which involve extreme and rare situations. Such scenarios, though rich in ethical implications, are rarely applicable in real-world AV decision-making. In practice, when AVs confront everyday ethical dilemmas, they often appear to prioritise strict adherence to traffic rules. By contrast, human drivers may bend the rules in context-specific situations, using judgement informed by practical concerns such as safety and efficiency. According to the concept of meaningful human control, AVs should respond to human reasons, including those of drivers, vulnerable road users, and policymakers. This work introduces a novel human reasons-based supervision framework that detects when AV behaviour misaligns with expected human reasons to trigger trajectory reconsideration. The framework integrates with motion planning and control systems to support real-time adaptation, enabling decisions that better reflect safety, efficiency, and regulatory considerations. Simulation results demonstrate that this approach could help AVs respond more effectively to ethical challenges in dynamic driving environments by prompting replanning when the current trajectory fails to align with human reasons. These findings suggest that our approach offers a path toward more adaptable, human-centered decision-making in AVs.

eess.SY↗

arXiv2025

Principles and Reasons Behind Automated Vehicle Decisions in Ethically Ambiguous Everyday Scenarios

Automated vehicles (AVs) increasingly encounter ethically ambiguous situations in everyday driving--scenarios involving conflicting human interests and lacking clearly optimal courses of action. While existing ethical models often focus on rare, high-stakes dilemmas (e.g., crash avoidance or trolley problems), routine decisions such as overtaking cyclists or navigating social interactions remain underexplored. This study addresses that gap by applying the tracking condition of Meaningful Human Control (MHC), which holds that AV behaviour should align with human reasons--defined as the values, intentions, and expectations that justify actions. We conducted qualitative interviews with 18 AV experts to identify the types of reasons that should inform AV manoeuvre planning. Thirteen categories of reasons emerged, organised across normative, strategic, tactical, and operational levels, and linked to the roles of relevant human agents. A case study on cyclist overtaking illustrates how these reasons interact in context, revealing a consistent prioritisation of safety, contextual flexibility regarding regulatory compliance, and nuanced trade-offs involving efficiency, comfort, and public acceptance. Based on these insights, we propose a principled conceptual framework for AV decision-making in routine, ethically ambiguous scenarios. The framework supports dynamic, human-aligned behaviour by prioritising safety, allowing pragmatic actions when strict legal adherence would undermine key values, and enabling constrained deviations when appropriately justified. This empirically grounded approach advances current guidance by offering actionable, context-sensitive design principles for ethically aligned AV systems.

cs.CY↗

arXiv2025

A Meaningful Human Control Perspective on User Perception of Partially Automated Driving Systems: A Case Study of Tesla Users

The use of partially automated driving systems raises concerns about potential responsibility issues, posing risk to the system safety, acceptance, and adoption of these technologies. The concept of meaningful human control has emerged in response to the responsibility gap problem, requiring the fulfillment of two conditions, tracking and tracing. While this concept has provided important philosophical and design insights on automated driving systems, there is currently little knowledge on how meaningful human control relates to subjective experiences of actual users of these systems. To address this gap, our study aimed to investigate the alignment between the degree of meaningful human control and drivers' perceptions of safety and trust in a real-world partially automated driving system. We utilized previously collected data from interviews with Tesla "Full Self-Driving" (FSD) Beta users, investigating the alignment between the user perception and how well the system was tracking the users' reasons. We found that tracking of users' reasons for driving tasks (such as safe maneuvers) correlated with perceived safety and trust, albeit with notable exceptions. Surprisingly, failure to track lane changing and braking reasons was not necessarily associated with negative perceptions of safety. However, the failure of the system to track expected maneuvers in dangerous situations always resulted in low trust and perceived lack of safety. Overall, our analyses highlight alignment points but also possible discrepancies between perceived safety and trust on the one hand, and meaningful human control on the other hand. Our results can help the developers of automated driving technology to design systems under meaningful human control and are perceived as safe and trustworthy.

cs.HC↗