Autonomous decision-making systems are affecting many aspects of our daily life. A major challenge for their successful deployment in our lives is integrating human-like ethical values into their decision-making process. Introducing ethics into the decision-making process raises a new challenge: how may systems interact should their ethical preferences differ depending on contextual factors? The absence of universal ethics implies that they need to reach an ethical agreement. To address this challenge, we propose a high-level architecture of a context-aware ethics-based negotiation approach in which autonomous systems utilize user ethical profiles, together with contextual factors and user status, to control their autonomy while collaboratively negotiating to reach an ethical agreement that satisfies the ethical beliefs of all parties involved.