Patent ID: 11958505
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G  H | IPC B  G  H

Claim 17:
18. A method comprising:
receiving, by one or more processors of a server system from a set of vehicles, audio sensor data of a sound emanated in an external environment around the set of vehicles, each vehicle of the set of vehicles operating in an autonomous driving mode, the audio sensor data having been detected by one or more acoustical sensors of a perception system of each vehicle of the set of vehicles, the audio sensor data including a direction-of-arrival and a timestamp of the sound corresponding to each vehicle of the set of vehicles;
determining, by the one or more processors based on the audio sensor data and a respective location of each vehicle of the set of vehicles at the timestamp, an estimated location of the sound;
determining, by the one or more processors based on the audio sensor data and a respective location of each vehicle of the set of vehicles at the timestamp, a particular object from which the sound emanated;
transmitting, by the one or more processors to the set of vehicles, (i) the estimated location of the sound and (ii) at least one of a type of the sound and a type of the particular object; and
causing, by the one or more processors based on (i) the estimated location of the sound and (ii) at least one of the type of the sound and the type of the particular object, at least one vehicle of the set of vehicles to modify a driving operation of the at least one vehicle operating in the autonomous driving mode.