  The development of autonomous vehicles has brought a great impact and changes
to the transportation industry, offering numerous benefits in terms of safety
and efficiency. However, one of the key challenges that autonomous driving
faces is how to make ethical decisions in complex situations. To address this
issue, in this article, a novel trajectory prediction method is proposed to
achieve ethical decision-making for autonomous driving. Ethical considerations
are integrated into the decision-making process of autonomous vehicles by
quantifying the utility principle and incorporating them into mathematical
formulas. Furthermore, trajectory prediction is optimized using LSTM network
with an attention module, resulting in improved accuracy and reliability in
trajectory planning and selection. Through extensive simulation experiments, we
demonstrate the effectiveness of the proposed method in making ethical
decisions and selecting optimal trajectories.
