  This paper presents TrolleyMod v1.0, an open-source platform based on the
CARLA simulator for the collection of ethical decision-making data for
autonomous vehicles. This platform is designed to facilitate experiments aiming
to observe and record human decisions and actions in high-fidelity simulations
of ethical dilemmas that occur in the context of driving. Targeting experiments
in the class of trolley problems, TrolleyMod provides a seamless approach to
creating new experimental settings and environments with the realistic
physics-engine and the high-quality graphical capabilities of CARLA and the
Unreal Engine. Also, TrolleyMod provides a straightforward interface between
the CARLA environment and Python to enable the implementation of custom
controllers, such as deep reinforcement learning agents. The results of such
experiments can be used for sociological analyses, as well as the training and
tuning of value-aligned autonomous vehicles based on social values that are
inferred from observations.
