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935.4 Constraints and Deontological Ethics rians or other vehicles in order to exemplify the Hippocratic Oath of doing no harm. As de- monstrated in the examples later, relative weights on cost functions or constraints can have a significant effect on the behavior in a given situation. Thus small changes in the definition of goals for automated vehicles can give rise to behaviors reflective of very different virtues. 5.4 Constraints and Deontological Ethics Cost functions, by their nature, weigh the impact of different actions on multiple competing objectives. Optimal controllers put more emphasis on the objectives with the highest cost Fig. 5.3 Above: a driving scene with parked cars. Below: the view from a laser scanner