Patent ID: 9278689
Filing Date: 2016-03-08
CPC Classification: B60Q,B60W,G01S,G05D,G06F,G08G,G10L

Claim Text:
1. An automated driving system, comprising: a perception system disposed on an autonomous vehicle; and a computing device in communication with the perception system, comprising: one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: detect, based on at least two audio recordings captured by the perception system, an emergency vehicle operating in an emergency mode, wherein each audio recording is captured at a different location on the autonomous vehicle; after detection, capture, using the perception system, an image of an environment surrounding the autonomous vehicle; determine a location of the emergency vehicle in respect to the autonomous vehicle based on a comparison of a time of arrival of sound within each of the at least two audio recordings; and if the location of the emergency vehicle is such that the autonomous vehicle is required to comply with a traffic regulation, send a command to one or more vehicle systems of the autonomous vehicle to implement one or more maneuvers to comply with the traffic regulation.