COLLISION AVOIDANCE USING AUDITORY DATA
First Claim
1. A system for an autonomous vehicle comprising:
- two or more microphones mounted to the autonomous vehicle;
a controller executing—
a pre-processor programmed to detect audio features in two or more audio streams from the two or more microphones;
a collision avoidance module programmed to classify the audio features and a direction to a source thereof, and, if the class for the sound source is a vehicle, invoke obstacle avoidance with respect to the direction.
1 Assignment
0 Petitions
Accused Products
Abstract
A controller for an autonomous vehicle receives audio signals from one or more microphones. The outputs of the microphones are pre-processed to enhance audio features that originated from vehicles. The outputs may also be processed to remove noise. The audio features are input to a machine learning model that classifies the source of the audio features. For example, features may be classified as originating from a vehicle. A direction to a source of the audio features is determined based on relative delays of the audio features in signals from multiple microphones. Where audio features are classified with an above-threshold confidence as originating from a vehicle, collision avoidance is performed with respect to the direction to the source of the audio features.
18 Citations
20 Claims
-
1. A system for an autonomous vehicle comprising:
-
two or more microphones mounted to the autonomous vehicle; a controller executing— a pre-processor programmed to detect audio features in two or more audio streams from the two or more microphones; a collision avoidance module programmed to classify the audio features and a direction to a source thereof, and, if the class for the sound source is a vehicle, invoke obstacle avoidance with respect to the direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A method for obstacle detection in an autonomous vehicle, the method comprising:
-
receiving, by a controller including one or more processing devices, two or more audio streams from two or more microphones mounted to the autonomous vehicle; detecting, by the controller, audio features in the two or more audio streams; detecting, by the controller, a direction to a sound source according to the audio features; identifying, by the controller, a class for the sound source according to the audio features; and determining, by the controller, that the class for the sound source is a vehicle, in response to determining that the class for the sound source is a vehicle, invoking obstacle avoidance with respect to the direction to the sound source. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
-
Specification