element, like a stop line marking, affects the behavior of the vehicle? Or predicting the vehicle's response if a pedestrian is jaywalking? What would be the impact if the vehicle fails to identify the stop line marking on the behavior concerning a pedestrian?

A Causal Knowledge Graph (CausalKG) incorporates causal knowledge into a KG, including causal domain knowledge encoded within a causal Bayesian network (CBN), and automates causal inference tasks [2]. It leverages the strengths of CBNs, causal ontology, and KGs to deliver robust and explainable insights. The primary benefit of building a CausalKG lies in integrating causal knowledge into reasoning and prediction processes, which is crucial for applications 2 . This integration not only boosts the accuracy and reliability of current AI algorithms but also provides improved explainability of outcomes, thereby enhancing trust and confidence in the system. In the context of scene understanding for autonomous driving, a real-world AD dataset, Pandaset3 , was used to build a causal knowledge graph4 . The CausalKG contains causal relations and causal effect weights estimated using the data from Pandaset and a derived CBN. The causal effect weights are quantitative analyses of interventions on one or more variables in the dataset. When queried, the CausalKG provided insights into intervention and counterfactual reasoning, demonstrating its relevance and applicability for scene understanding. It was observed that a stop line marking (STL) has a higher causal effect on a pedestrian walking with an object, such as a stroller, backpack, umbrella, etc. Pedestrians with objects seem to be more responsible citizens, following traffic rules while crossing the street. If a pedestrian with an object is jaywalking (walking in a scene with no STL), there is a positive causal effect on the stopping of a vehicle. Jaywalking pedestrians with an object have a higher causal effect on stopping a vehicle than jaywalking pedestrians without an object, as vehicles or drivers tend to be more alert of pedestrians walking with an object. Similarly, if a pedestrian is standing at an STL in a scene, but the vehicle fails to identify the STL, the vehicle will continue to move. The causal effect estimated using the CBN and AD dataset, incorporated into a KG, provides a better explanation and understanding of interactions between the entities in the driving scene, enlightening us about the complex dynamics of the driving scene. CausalKGs can be used in the future to predict new causal entities in the driving scene. Acknowledgments: NSF Awards #2335967 and #2119654.