Patent ID: 11914390
Assignee: ZOOX, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving first audio data associated with an autonomous vehicle in an environment;
receiving second audio data associated with the autonomous vehicle;
determining, based at least in part on the first audio data, a first direction of arrival (DoA) value;
determining, based at least in part on the second audio data, a second DoA value;
receiving, as environment data, at least one of map data of the environment, image data associated with the environment, lidar data associated with the environment, or radar data associated with the environment;
determining, based at least in part on the environment data, the first DoA value, and the second DoA value, and on both the first audio data and the second audio data representing sound emitted by an object in the environment, that the first audio data is associated with the sound being emitted by the object, and, based at least in part on the sound being reflected by a surface in the environment, that the second audio data is associated with reflected sound associated with the first audio data; and
controlling the autonomous vehicle based at least in part on the second audio data being associated with the reflected sound.