Patent Publication Number: US-2021179128-A1

Title: Method and system for adjusting vehicle noise output in pedestrian and vehicular traffic environments

Description:
FIELD 
     The present disclosure is generally directed to vehicle systems, in particular, toward electric and/or hybrid-electric vehicles. 
     BACKGROUND 
     In recent years, transportation methods have changed substantially. This change is due in part to a concern over the limited availability of natural resources, a proliferation in personal technology, and a societal shift to adopt more environmentally friendly transportation solutions. These considerations have encouraged the development of a number of new flexible-fuel vehicles, hybrid-electric vehicles, and electric vehicles. 
     While these vehicles appear to be new, they are generally implemented as a number of traditional subsystems that are merely tied to an alternative power source. In fact, the design and construction of the vehicles is limited to standard frame sizes, shapes, materials, and transportation concepts. Among other things, these limitations fail to take advantage of the benefits of new technology, power sources, and support infrastructure. 
     An autonomous car is a vehicle that is capable of sensing its environment and navigating without human input. Numerous companies and research organizations have developed working prototype autonomous vehicles. Further improvements in autonomous car technology are desirable. 
     A wide array of sensors is required for the modern operation of a motor vehicle. These sensors are required for the vehicle to navigate, avoid collisions with other cars, and adjust the operating parameters of the drive systems. However, the data collected by these sensors is confined to the vehicle, is ephemeral and is only used locally in the vehicle. The present disclosure provides a system which utilizes the data already being collected by the motor vehicle to convert the motor vehicle into a rolling laboratory for monitoring pedestrians. Further, the system aggregates the data collected from a plurality of vehicles so that differential measurements can be performed on the same pedestrian from multiple perspectives and over multiple time periods. 
     Advanced driver assistance systems (ADAS) automate and enhance the safety system of a vehicle and provide a more pleasurable driving experience. Examples of ADAS systems currently available include Adaptive Cruise Control, Lane Departure Warning Systems, Blind Spot Detectors, and Hill Decent Control. In order to implement these systems, a wide array of sensors is required. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a vehicle in accordance with embodiments of the present disclosure; 
         FIG. 2  shows a plan view of the vehicle in accordance with at least some embodiments of the present disclosure; 
         FIG. 3  is a block diagram of an embodiment of a communication environment of the vehicle in accordance with embodiments of the present disclosure; 
         FIG. 4  shows an embodiment of the instrument panel of the vehicle according to one embodiment of the present disclosure; 
         FIG. 5  is a block diagram of an embodiment of a communications subsystem of the vehicle; 
         FIG. 6  is a block diagram of a computing environment associated with the embodiments presented herein; 
         FIG. 7  is a block diagram of a computing device associated with one or more components described herein; 
         FIG. 8A  shows an example of vehicle noise output in accordance with embodiments of the present disclosure; 
         FIG. 8B  shows the example of the vehicle noise output with adjustment in accordance with embodiments of the present disclosure; 
         FIG. 9  shows another example of vehicle noise output in accordance with embodiments of the present disclosure; 
         FIG. 10  shows another example of vehicle noise output in accordance with embodiments of the present disclosure; 
         FIG. 11  shows another example of vehicle noise output in accordance with embodiments of the present disclosure; 
         FIG. 12  shows another example of vehicle noise output in accordance with embodiments of the present disclosure; 
         FIG. 13  shows another example of vehicle noise output in accordance with embodiments of the present disclosure; 
         FIG. 14A  shows a schematic view of an object being detected by an imaging system of the vehicle at a first time of travel in accordance with embodiments of the present disclosure; 
         FIG. 14B  shows a schematic view of the object detected by an imaging system of the vehicle at a second time of travel in accordance with embodiments of the present disclosure; 
         FIG. 15  is a flow diagram of a first method for detecting an object on a sensor surface of the vehicle in accordance with embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     A vehicle may use noises to alert a driver and/or passenger of various warnings. For example, the vehicle may beep to indicate the one or more of the occupants has not engaged their seat belt. In another example, the vehicle may beep when the door is ajar, and the key is still in the ignition. An electric vehicle may also produce artificial noise in order to replicate/replace the noise made by combustion engines to indicate its presence to the surrounding area. Those noises are intended to allow pedestrians, other motorists, bicyclist, etc. to be aware of the vehicle&#39;s presence. 
     Embodiments of the present disclosure will be described in connection with a vehicle, and in some embodiments, an electric vehicle, rechargeable electric vehicle, and/or hybrid-electric vehicle and associated systems. 
       FIG. 1  shows a perspective view of a vehicle  100  in accordance with embodiments of the present disclosure. The electric vehicle  100  comprises a vehicle front  110 , vehicle aft or rear  120 , vehicle roof  130 , at least one vehicle side  160 , a vehicle undercarriage  140 , and a vehicle interior  150 . In any event, the vehicle  100  may include a frame  104  and one or more body panels  108  mounted or affixed thereto. The vehicle  100  may include one or more interior components (e.g., components inside an interior space  150 , or user space, of a vehicle  100 , etc.), exterior components (e.g., components outside of the interior space  150 , or user space, of a vehicle  100 , etc.), drive systems, controls systems, structural components, etc. 
     Although shown in the form of a car, it should be appreciated that the vehicle  100  described herein may include any conveyance or model of a conveyance, where the conveyance was designed for the purpose of moving one or more tangible objects, such as people, animals, cargo, and the like. The term “vehicle” does not require that a conveyance moves or is capable of movement. Typical vehicles may include but are in no way limited to cars, trucks, motorcycles, busses, automobiles, trains, railed conveyances, boats, ships, marine conveyances, submarine conveyances, airplanes, space craft, flying machines, human-powered conveyances, and the like. 
     In some embodiments, the vehicle  100  may include a number of sensors, devices, and/or systems that are capable of assisting in driving operations. Examples of the various sensors and systems may include, but are in no way limited to, one or more of cameras (e.g., independent, stereo, combined image, etc.), infrared (IR) sensors, radio frequency (RF) sensors, ultrasonic sensors (e.g., transducers, transceivers, etc.), RADAR sensors (e.g., object-detection sensors and/or systems), LIDAR systems, odometry sensors and/or devices (e.g., encoders, etc.), orientation sensors (e.g., accelerometers, gyroscopes, magnetometer, etc.), navigation sensors and systems (e.g., GPS, etc.), and other ranging, imaging, and/or object-detecting sensors. The sensors may be disposed in an interior space  150  of the vehicle  100  and/or on an outside of the vehicle  100 . In some embodiments, the sensors and systems may be disposed in one or more portions of a vehicle  100  (e.g., the frame  104 , a body panel, a compartment, etc.). 
     The vehicle sensors and systems may be selected and/or configured to suit a level of operation associated with the vehicle  100 . Among other things, the number of sensors used in a system may be altered to increase or decrease information available to a vehicle control system (e.g., affecting control capabilities of the vehicle  100 ). Additionally, or alternatively, the sensors and systems may be part of one or more advanced driver assistance systems (ADAS) associated with a vehicle  100 . In any event, the sensors and systems may be used to provide driving assistance at any level of operation (e.g., from fully-manual to fully-autonomous operations, etc.) as described herein. 
     The various levels of vehicle control and/or operation can be described as corresponding to a level of autonomy associated with a vehicle  100  for vehicle driving operations. For instance, at Level 0, or fully-manual driving operations, a driver (e.g., a human driver) may be responsible for all the driving control operations (e.g., steering, accelerating, braking, etc.) associated with the vehicle. Level 0 may be referred to as a “No Automation” level. At Level 1, the vehicle may be responsible for a limited number of the driving operations associated with the vehicle, while the driver is still responsible for most driving control operations. An example of a Level 1 vehicle may include a vehicle in which the throttle control and/or braking operations may be controlled by the vehicle (e.g., cruise control operations, etc.). Level 1 may be referred to as a “Driver Assistance” level. At Level 2, the vehicle may collect information (e.g., via one or more driving assistance systems, sensors, etc.) about an environment of the vehicle (e.g., surrounding area, roadway, traffic, ambient conditions, etc.) and use the collected information to control driving operations (e.g., steering, accelerating, braking, etc.) associated with the vehicle. In a Level 2 autonomous vehicle, the driver may be required to perform other aspects of driving operations not controlled by the vehicle. Level 2 may be referred to as a “Partial Automation” level. It should be appreciated that Levels 0-2 all involve the driver monitoring the driving operations of the vehicle. 
     At Level 3, the driver may be separated from controlling all the driving operations of the vehicle except when the vehicle makes a request for the operator to act or intervene in controlling one or more driving operations. In other words, the driver may be separated from controlling the vehicle unless the driver is required to take over for the vehicle. Level 3 may be referred to as a “Conditional Automation” level. At Level 4, the driver may be separated from controlling all the driving operations of the vehicle and the vehicle may control driving operations even when a user fails to respond to a request to intervene. Level 4 may be referred to as a “High Automation” level. At Level 5, the vehicle can control all the driving operations associated with the vehicle in all driving modes. The vehicle in Level 5 may continually monitor traffic, vehicular, roadway, and/or environmental conditions while driving the vehicle. In Level 5, there is no human driver interaction required in any driving mode. Accordingly, Level 5 may be referred to as a “Full Automation” level. It should be appreciated that in Levels 3-5 the vehicle, and/or one or more automated driving systems associated with the vehicle, monitors the driving operations of the vehicle and the driving environment. 
     As shown in  FIG. 1 , the vehicle  100  may, for example, include at least one of a ranging and imaging system  112  (e.g., LIDAR, etc.), an imaging sensor  116 A,  116 F (e.g., camera, IR, etc.), a radio object-detection and ranging system sensors  116 B (e.g., RADAR, RF, etc.), ultrasonic sensors  116 C, and/or other object-detection sensors  116 D,  116 E. In some embodiments, the LIDAR system  112  and/or sensors may be mounted on a roof  130  of the vehicle  100 . In one embodiment, the RADAR sensors  116 B may be disposed at least at a front  110 , aft  120 , or side  160  of the vehicle  100 . Among other things, the RADAR sensors may be used to monitor and/or detect a position of other vehicles, pedestrians, and/or other objects near, or proximal to, the vehicle  100 . While shown associated with one or more areas of a vehicle  100 , it should be appreciated that any of the sensors and systems  116 A-K,  112  illustrated in  FIGS. 1 and 2  may be disposed in, on, and/or about the vehicle  100  in any position, area, and/or zone of the vehicle  100 . 
     Referring now to  FIG. 2 , a plan view of a vehicle  100  will be described in accordance with embodiments of the present disclosure. In particular,  FIG. 2  shows a vehicle sensing environment  200  at least partially defined by the sensors and systems  116 A-K,  112  disposed in, on, and/or about the vehicle  100 . Each sensor  116 A-K may include an operational detection range R and operational detection angle a. The operational detection range R may define the effective detection limit, or distance, of the sensor  116 A-K. In some cases, this effective detection limit may be defined as a distance from a portion of the sensor  116 A-K (e.g., a lens, sensing surface, etc.) to a point in space offset from the sensor  116 A-K. The effective detection limit may define a distance, beyond which, the sensing capabilities of the sensor  116 A-K deteriorate, fail to work, or are unreliable. In some embodiments, the effective detection limit may define a distance, within which, the sensing capabilities of the sensor  116 A-K are able to provide accurate and/or reliable detection information. The operational detection angle a may define at least one angle of a span, or between horizontal and/or vertical limits, of a sensor  116 A-K. As can be appreciated, the operational detection limit and the operational detection angle a of a sensor  116 A-K together may define the effective detection zone  216 A-D (e.g., the effective detection area, and/or volume, etc.) of a sensor  116 A-K. 
     In some embodiments, the vehicle  100  may include a ranging and imaging system  112  such as LIDAR, or the like. The ranging and imaging system  112  may be configured to detect visual information in an environment surrounding the vehicle  100 . The visual information detected in the environment surrounding the ranging and imaging system  112  may be processed (e.g., via one or more sensor and/or system processors, etc.) to generate a complete 360-degree view of an environment  200  around the vehicle. The ranging and imaging system  112  may be configured to generate changing 360-degree views of the environment  200  in real-time, for instance, as the vehicle  100  drives and the environment around the vehicle changes. In some cases, the ranging and imaging system  112  may have an effective detection limit  204  that is some distance from the center of the vehicle  100  outward over 360 degrees. The effective detection limit  204  of the ranging and imaging system  112  defines a view zone  208  (e.g., an area and/or volume, etc.) surrounding the vehicle  100 . Any object falling outside of the view zone  208  is in the undetected zone  212  and would not be detected by the ranging and imaging system  112  of the vehicle  100 . 
     Sensor data and information may be collected by one or more sensors or systems  116 A-K,  112  of the vehicle  100  monitoring the vehicle sensing environment  200 . This information may be processed (e.g., via a processor, computer-vision system, etc.) to determine objects (e.g., people/pedestrians, bicyclists, other motorist, animals, landscape, roadways, conditions, etc.) inside one or more detection zones  208 ,  216 A-D associated with the vehicle sensing environment  200 . In some cases, information from multiple sensors  116 A-K may be processed to form composite sensor detection information. For example, a first sensor  116 A and a second sensor  116 F may correspond to a first camera  116 A and a second camera  116 F aimed in a forward traveling direction of the vehicle  100 . In this example, images collected by the cameras  116 A,  116 F may be combined to form stereo image information. This composite information may increase the capabilities of a single sensor in the one or more sensors  116 A-K by, for example, adding the ability to determine depth associated with objects in the one or more detection zones  208 ,  216 A-D. Similar image data may be collected by rear view cameras (e.g., sensors  116 G,  116 H) aimed in a rearward traveling direction vehicle  100 . 
     In some embodiments, multiple sensors  116 A-K may be effectively joined to increase a sensing zone and provide increased sensing coverage. For instance, multiple RADAR sensors  116 B disposed on the front  110  of the vehicle may be joined to provide a zone  216 B of coverage that spans across an entirety of the front  110  of the vehicle. In some cases, the multiple RADAR sensors  116 B may cover a detection zone  216 B that includes one or more other sensor detection zones  216 A. These overlapping detection zones may provide redundant sensing, enhanced sensing, and/or provide greater detail in sensing within a particular portion (e.g., zone  216 A) of a larger zone (e.g., zone  216 B). Additionally, or alternatively, the sensors  116 A-K of the vehicle  100  may be arranged to create a complete coverage, via one or more sensing zones  208 ,  216 A-D around the vehicle  100 . In some areas, the sensing zones  216 C of two or more sensors  116 D,  116 E may intersect at an overlap zone  220 . In some areas, the angle and/or detection limit of two or more sensing zones  216 C,  216 D (e.g., of two or more sensors  116 E,  116 J,  116 K) may meet at a virtual intersection point  224 . 
     The vehicle  100  may include a number of sensors  116 E,  116 G,  116 H,  116 J,  116 K disposed proximal to the rear  120  of the vehicle  100 . These sensors can include, but are in no way limited to, an imaging sensor, camera, IR, a radio object-detection and ranging sensors, RADAR, RF, ultrasonic sensors, and/or other object-detection sensors. Among other things, these sensors  116 E,  116 G,  116 H,  116 J,  116 K may detect objects near or approaching the rear of the vehicle  100 . For example, another vehicle approaching the rear  120  of the vehicle  100  may be detected by one or more of the ranging and imaging system (e.g., LIDAR)  112 , rear-view cameras  116 G,  116 H, and/or rear facing RADAR sensors  116 J,  116 K. 
     As described above, the images from the rear-view cameras  116 G,  116 H may be processed to generate a stereo view (e.g., providing depth associated with an object or environment, etc.) for objects visible to both cameras  116 G,  116 H. As another example, the vehicle  100  may be driving and one or more of the ranging and imaging system  112 , front-facing cameras  116 A,  116 F, front-facing RADAR sensors  116 B, and/or ultrasonic sensors  116 C may detect objects (e.g., pedestrians) in front of the vehicle  100 . This approach may provide critical sensor information to a vehicle control system in at least one of the autonomous driving levels described above. For instance, when the vehicle  100  is driving and detects a pedestrian in or near a travel path of the vehicle, the sensor detection information may be sent to the vehicle control system of the vehicle  100  to control/adjust a noise generated by a noise control system of the vehicle  100 . The noise generated may be based on characteristics (e.g., type (what), distance (how far), current speed (of vehicle and/or object), movement vector, etc.) of the detected object. That is to say, the vehicle control system and/or the noise control system may vary characteristics of the noise/sound emitted (e.g., intensity, volume, frequency, sound file, etc.) as a function of distance and the type of sensed object. 
     For example, a louder noise may be generated if a motorcycle is detected compared to when a bicycle is detected, because the noise needs to be louder to be heard by the person riding the motorcycle compared to the person riding the bicycle. The noise generated may be tailored to the type (e.g., person, animal, etc.) of the object. For example, if the object detected is a dog, the noise generated may be tailored to cause the dog to avoid the vehicle (e.g., run away rather than towards the vehicle). 
     As yet another example, the vehicle  100  may be operating and one or more of the ranging and imaging system  112 , and/or the side-facing sensors  116 D,  116 E (e.g., RADAR, ultrasonic, camera, combinations thereof, and/or other type of sensor), may detect objects at a side of the vehicle  100 . It should be appreciated that the sensors  116 A-K may detect an object that is both at a side  160  and a front  110  of the vehicle  100  (e.g., disposed at a diagonal angle to a centerline of the vehicle  100  running from the front  110  of the vehicle  100  to the rear  120  of the vehicle). Additionally, or alternatively, the sensors  116 A-K may detect an object that is both, or simultaneously, at a side  160  and a rear  120  of the vehicle  100  (e.g., disposed at a diagonal angle to the centerline of the vehicle  100 ). 
       FIG. 3  is a block diagram of an embodiment of a communication environment  300  of the vehicle  100  in accordance with embodiments of the present disclosure. The communication system  300  may include one or more vehicle driving vehicle sensors and systems  304 , sensor processors  340 , sensor data memory  344 , vehicle control system  348 , communications subsystem  350 , control data  364 , computing devices  368 , noise control systems  370  (including audio output systems), display devices  372 , and other components  374  that may be associated with a vehicle  100 . These associated components may be electrically and/or communicatively coupled to one another via at least one bus  360 . In some embodiments, the one or more associated components may send and/or receive signals across a communication network  352  to at least one of a navigation source  356 A, a control source  356 B, or some other entity  356 N. 
     In accordance with at least some embodiments of the present disclosure, the communication network  352  may comprise any type of known communication medium or collection of communication media and may use any type of protocols, such as SIP, TCP/IP, SNA, IPX, AppleTalk, and the like, to transport messages between endpoints. The communication network  352  may include wired and/or wireless communication technologies. The Internet is an example of the communication network  352  that constitutes an Internet Protocol (IP) network consisting of many computers, computing networks, and other communication devices located all over the world, which are connected through many telephone systems and other means. Other examples of the communication network  104  include, without limitation, a standard Plain Old Telephone System (POTS), an Integrated Services Digital Network (ISDN), the Public Switched Telephone Network (PSTN), a Local Area Network (LAN), such as an Ethernet network, a Token-Ring network and/or the like, a Wide Area Network (WAN), a virtual network, including without limitation a virtual private network (“VPN”); the Internet, an intranet, an extranet, a cellular network, an infra-red network; a wireless network (e.g., a network operating under any of the IEEE  802 . 9  suite of protocols, the Bluetooth® protocol known in the art, and/or any other wireless protocol), and any other type of packet-switched or circuit-switched network known in the art and/or any combination of these and/or other networks. In addition, it can be appreciated that the communication network  352  need not be limited to any one network type, and instead may be comprised of a number of different networks and/or network types. The communication network  352  may comprise a number of different communication media such as coaxial cable, copper cable/wire, fiber-optic cable, antennas for transmitting/receiving wireless messages, and combinations thereof. 
     The driving vehicle sensors and systems  304  may include at least one navigation  308  (e.g., global positioning system (GPS), etc.), orientation  312 , odometry  316 , LIDAR  320 , RADAR  324 , ultrasonic  328 , camera  332 , infrared (IR)  336 , and/or other sensor or system  338 . These driving vehicle sensors and systems  304  may be similar, if not identical, to the sensors and systems  116 A-K,  112  described in conjunction with  FIGS. 1 and 2 . 
     The navigation sensor  308  may include one or more sensors having receivers and antennas that are configured to utilize a satellite-based navigation system including a network of navigation satellites capable of providing geolocation and time information to at least one component of the vehicle  100 . Examples of the navigation sensor  308  as described herein may include, but are not limited to, at least one of Garmin® GLO™ family of GPS and GLONASS combination sensors, Garmin® GPS 15x™ family of sensors, Garmin® GPS 16x™ family of sensors with high-sensitivity receiver and antenna, Garmin® GPS 18x OEM family of high-sensitivity GPS sensors, Dewetron DEWE-VGPS series of GPS sensors, GlobalSat 1-Hz series of GPS sensors, other industry-equivalent navigation sensors and/or systems, and may perform navigational and/or geolocation functions using any known or future-developed standard and/or architecture. 
     The orientation sensor  312  may include one or more sensors configured to determine an orientation of the vehicle  100  relative to at least one reference point. In some embodiments, the orientation sensor  312  may include at least one pressure transducer, stress/strain gauge, accelerometer, gyroscope, and/or geomagnetic sensor. Examples of the navigation sensor  308  as described herein may include, but are not limited to, at least one of Bosch Sensortec BMX 160 series low-power absolute orientation sensors, Bosch Sensortec BMX055 9-axis sensors, Bosch Sensortec BMI055 6-axis inertial sensors, Bosch Sensortec BMI160 6-axis inertial sensors, Bosch Sensortec BMF055 9-axis inertial sensors (accelerometer, gyroscope, and magnetometer) with integrated Cortex M0+ microcontroller, Bosch Sensortec BMP280 absolute barometric pressure sensors, Infineon TLV493D-A1B6 3D magnetic sensors, Infineon TLI493D-W1B6 3D magnetic sensors, Infineon TL family of 3D magnetic sensors, Murata Electronics SCC2000 series combined gyro sensor and accelerometer, Murata Electronics SCC1300 series combined gyro sensor and accelerometer, other industry-equivalent orientation sensors and/or systems, and may perform orientation detection and/or determination functions using any known or future-developed standard and/or architecture. 
     The odometry sensor and/or system  316  may include one or more components that is configured to determine a change in position of the vehicle  100  over time. In some embodiments, the odometry system  316  may utilize data from one or more other sensors and/or systems  304  in determining a position (e.g., distance, location, etc.) of the vehicle  100  relative to a previously measured position for the vehicle  100 . Additionally, or alternatively, the odometry sensors  316  may include one or more encoders, Hall speed sensors, and/or other measurement sensors/devices configured to measure a wheel speed, rotation, and/or number of revolutions made over time. Examples of the odometry sensor/system  316  as described herein may include, but are not limited to, at least one of Infineon TLE4924/26/27/28C high-performance speed sensors, Infineon TL4941plusC(B) single chip differential Hall wheel-speed sensors, Infineon TL5041plusC Giant Mangnetoresistance (GMR) effect sensors, Infineon TL family of magnetic sensors, EPC Model 25SP Accu-CoderPro™ incremental shaft encoders, EPC Model 30M compact incremental encoders with advanced magnetic sensing and signal processing technology, EPC Model 925 absolute shaft encoders, EPC Model 958 absolute shaft encoders, EPC Model MA36S/MA63S/SA36S absolute shaft encoders, Dynapar™ F18 commutating optical encoder, Dynapar™ HS35R family of phased array encoder sensors, other industry-equivalent odometry sensors and/or systems, and may perform change in position detection and/or determination functions using any known or future-developed standard and/or architecture. 
     The LIDAR sensor/system  320  may include one or more components configured to measure distances to targets using laser illumination. In some embodiments, the LIDAR sensor/system  320  may provide 3D imaging data of an environment around the vehicle  100 . The imaging data may be processed to generate a full 360-degree view of the environment around the vehicle  100 . The LIDAR sensor/system  320  may include a laser light generator configured to generate a plurality of target illumination laser beams (e.g., laser light channels). In some embodiments, this plurality of laser beams may be aimed at, or directed to, a rotating reflective surface (e.g., a mirror) and guided outwardly from the LIDAR sensor/system  320  into a measurement environment. The rotating reflective surface may be configured to continually rotate 360 degrees about an axis, such that the plurality of laser beams is directed in a full 360-degree range around the vehicle  100 . A photodiode receiver of the LIDAR sensor/system  320  may detect when light from the plurality of laser beams emitted into the measurement environment returns (e.g., reflected echo) to the LIDAR sensor/system  320 . The LIDAR sensor/system  320  may calculate, based on a time associated with the emission of light to the detected return of light, a distance from the vehicle  100  to the illuminated target. In some embodiments, the LIDAR sensor/system  320  may generate over 2.0 million points per second and have an effective operational range of at least 100 meters. Examples of the LIDAR sensor/system  320  as described herein may include, but are not limited to, at least one of Velodyne® LiDAR™ HDL-64E 64-channel LIDAR sensors, Velodyne® LiDAR™ HDL-32E 32-channel LIDAR sensors, Velodyne® LiDAR™ PUCK™ VLP-16 16-channel LIDAR sensors, Leica Geosystems Pegasus:Two mobile sensor platform, Garmin® LIDAR-Lite v3 measurement sensor, Quanergy M8 LiDAR sensors, Quanergy S3 solid state LiDAR sensor, LeddarTech® LeddarVU compact solid state fixed-beam LIDAR sensors, other industry-equivalent LIDAR sensors and/or systems, and may perform illuminated target and/or obstacle detection in an environment around the vehicle  100  using any known or future-developed standard and/or architecture. 
     The RADAR sensors  324  may include one or more radio components that are configured to detect objects/targets in an environment of the vehicle  100 . In some embodiments, the RADAR sensors  324  may determine a distance, position, and/or movement vector (e.g., angle, speed, etc.) associated with a target over time. The RADAR sensors  324  may include a transmitter configured to generate and emit electromagnetic waves (e.g., radio, microwaves, etc.) and a receiver configured to detect returned electromagnetic waves. In some embodiments, the RADAR sensors  324  may include at least one processor configured to interpret the returned electromagnetic waves and determine locational properties of targets. Examples of the RADAR sensors  324  as described herein may include, but are not limited to, at least one of Infineon RASIC™ RTN7735PL transmitter and RRN7745PL/46PL receiver sensors, Autoliv ASP Vehicle RADAR sensors, Delphi L2C0051TR 77 GHz ESR Electronically Scanning Radar sensors, Fujitsu Ten Ltd. Automotive Compact 77 GHz 3D Electronic Scan Millimeter Wave Radar sensors, other industry-equivalent RADAR sensors and/or systems, and may perform radio target and/or obstacle detection in an environment around the vehicle  100  using any known or future-developed standard and/or architecture. 
     The ultrasonic sensors  328  may include one or more components that are configured to detect objects in an environment of the vehicle  100 . In some embodiments, the ultrasonic sensors  328  may determine a distance, position, and/or movement vector (e.g., angle, speed, etc.) associated with an object over time. The ultrasonic sensors  328  may include an ultrasonic transmitter and receiver, or transceiver, configured to generate and emit ultrasound waves and interpret returned echoes of those waves. In some embodiments, the ultrasonic sensors  328  may include at least one processor configured to interpret the returned ultrasonic waves and determine locational properties of objects. Examples of the ultrasonic sensors  328  as described herein may include, but are not limited to, at least one of Texas Instruments TIDA-00151 automotive ultrasonic sensor interface IC sensors, MaxBotix® MB8450 ultrasonic proximity sensor, MaxBotix® ParkSonar™-EZ ultrasonic proximity sensors, Murata Electronics MA40H1S-R open-structure ultrasonic sensors, Murata Electronics MA40S4R/S open-structure ultrasonic sensors, Murata Electronics MA58MF14-7N waterproof ultrasonic sensors, other industry-equivalent ultrasonic sensors and/or systems, and may perform ultrasonic target and/or obstacle detection in an environment around the vehicle  100  using any known or future-developed standard and/or architecture. 
     The camera sensors  332  may include one or more components configured to detect image information associated with an environment of the vehicle  100 . In some embodiments, the camera sensors  332  may include a lens, filter, image sensor, and/or a digital image processor. It is an aspect of the present disclosure that multiple camera sensors  332  may be used together to generate stereo images providing depth measurements. Examples of the camera sensors  332  as described herein may include, but are not limited to, at least one of ON Semiconductor® MT9V024 Global Shutter VGA GS CMOS image sensors, Teledyne DALSA Falcon2 camera sensors, CMOSIS CMV50000 high-speed CMOS image sensors, other industry-equivalent camera sensors and/or systems, and may perform visual target and/or obstacle detection in an environment around the vehicle  100  using any known or future-developed standard and/or architecture. 
     The infrared (IR) sensors  336  may include one or more components configured to detect image information associated with an environment of the vehicle  100 . The IR sensors  336  may be configured to detect objects in low-light, dark, or poorly-lit environments. The IR sensors  336  may include an IR light emitting element (e.g., IR light emitting diode (LED), etc.) and an IR photodiode. In some embodiments, the IR photodiode may be configured to detect returned IR light at or about the same wavelength to that emitted by the IR light emitting element. In some embodiments, the IR sensors  336  may include at least one processor configured to interpret the returned IR light and determine locational properties and/or other characteristics of detected objects. The IR sensors  336  may be configured to detect and/or measure a temperature associated with an object (e.g., an object, pedestrian, other vehicle, etc.). Examples of IR sensors  336  as described herein may include, but are not limited to, at least one of Opto Diode lead-salt IR array sensors, Opto Diode OD-850 Near-IR LED sensors, Opto Diode SA/SHA727 steady state IR emitters and IR detectors, FLIR® LS microbolometer sensors, FLIR® TacFLIR 380-HD InSb MWIR FPA and HD MWIR thermal sensors, FLIR® VOx 640×480 pixel detector sensors, Delphi IR sensors, other industry-equivalent IR sensors and/or systems, and may perform IR visual target and/or obstacle detection in an environment around the vehicle  100  using any known or future-developed standard and/or architecture. 
     In some embodiments, the driving vehicle sensors and systems  304  may include other sensors  338  and/or combinations of the sensors  308 - 336  described above. Additionally, or alternatively, one or more of the sensors  308 - 336  described above may include one or more processors configured to process and/or interpret signals detected by the one or more sensors  308 - 336 . In some embodiments, the processing of at least some sensor information provided by the vehicle sensors and systems  304  may be processed by at least one sensor processor  340 . Raw and/or processed sensor data may be stored in a sensor data memory  344  storage medium. In some embodiments, the sensor data memory  344  may store instructions used by the sensor processor  340  for processing sensor information provided by the sensors and systems  304 . In any event, the sensor data memory  344  may be a disk drive, optical storage device, solid-state storage device such as a random-access memory (“RAM”) and/or a read-only memory (“ROM”), which can be programmable, flash-updateable, and/or the like. 
     The vehicle control system  348  may receive processed sensor information from the sensor processor  340  and determine to control an aspect of the vehicle  100 . Controlling an aspect of the vehicle  100  may include presenting information via one or more display devices  372  associated with the vehicle, sending commands to one or more computing devices  368  associated with the vehicle, and/or adjusting the noise generated/output by the vehicle. 
     In some embodiments, the noise control system  370  may correspond to one or more computing systems that control vehicle noise output of the vehicle  100  and one or more audio output systems that output vehicle noise. In one embodiment, the noise control system  370  may operate adjust the vehicle noise output by the vehicle  100  by controlling an output audio signal based on environmental characteristics and/or characteristics of the detected object. In this example, the noise control system  370  may receive sensor data describing an environment surrounding the vehicle  100  and/or a detected object near the vehicle  100  and, based on the sensor data received, determine how to adjust the vehicle noise output by the vehicle  100 . In some examples, adjusting the vehicle noise output includes adjusting the intensity (e.g., volume) and/or the frequency of the noise. Additionally, or alternatively, adjusting the noise could include playing a specific sound (e.g., stored audio file) based on the type of object detected. The audio files may be stored on a disk drive, optical storage device, solid-state storage device such as a random-access memory (“RAM”) and/or a read-only memory (“ROM”), which can be programmable, flash-updateable, and/or the like. 
     The noise control systems  370  may include any device and/or system that is configured to adjust the vehicle noise output (e.g., the vehicle sensors and systems  304 , ranging and imaging system  112 , sensors  116 A-K, etc., and/or combinations thereof) of the vehicle  100 . In some embodiments, the noise control system  370  may be described in conjunction with  FIGS. 8A-13 . Additionally, or alternatively, the noise control system  370  may receive a command or instruction from the sensor processors  340 , the vehicle control system  348 , etc. to adjust the vehicle noise output. The vehicle noise may be output in response to the sensor processors  340  and/or vehicle control system  348  detecting an object near the vehicle  100 . In some embodiments, the noise control system  370  may include a processor and memory, or a controller, configured to communicate with one or more components of the vehicle  100 . The noise control system  370  may include one or more audio output devices associated with the vehicle  100 . It is an aspect of the present disclosure that vehicle noise may be adjusted in accordance with the method  1400 , disclosed in conjunction with  FIG. 14 . 
     In addition to the mechanical components described herein, the vehicle  100  may include a number of user interface devices. The user interface devices receive and translate human input into a mechanical movement or electrical signal or stimulus. The human input may be one or more of motion (e.g., body movement, body part movement, in two-dimensional or three-dimensional space, etc.), voice, touch, and/or physical interaction with the components of the vehicle  100 . In some embodiments, the human input may be configured to control one or more functions of the vehicle  100  and/or systems of the vehicle  100  described herein. User interfaces may include, but are in no way limited to, at least one graphical user interface of a display device, steering wheel or mechanism, transmission lever or button (e.g., including park, neutral, reverse, and/or drive positions, etc.), throttle control pedal or mechanism, brake control pedal or mechanism, power control switch, communications equipment, etc. 
       FIG. 4  shows one embodiment of the instrument panel  400  of the vehicle  100 . The instrument panel  400  of vehicle  100  comprises a steering wheel  410 , a vehicle operational display  420  (e.g., configured to present and/or display driving data such as speed, measured air resistance, vehicle information, entertainment information, etc.), one or more auxiliary displays  424  (e.g., configured to present and/or display information segregated from the operational display  420 , entertainment applications, movies, music, etc.), a heads-up display  434  (e.g., configured to display any information previously described including, but in no way limited to, guidance information such as route to destination, or obstacle warning information to warn of a potential collision, or some or all primary vehicle operational data such as speed, resistance, etc.), a power management display  428  (e.g., configured to display data corresponding to electric power levels of vehicle  100 , reserve power, charging status, etc.), and an input device  432  (e.g., a controller, touchscreen, or other interface device configured to interface with one or more displays in the instrument panel or components of the vehicle  100 . The input device  432  may be configured as a joystick, mouse, touchpad, tablet, 3D gesture capture device, etc.). In some embodiments, the input device  432  may be used to manually maneuver a portion of the vehicle  100  into a charging position (e.g., moving a charging plate to a desired separation distance, etc.). 
     While one or more of displays of instrument panel  400  may be touch-screen displays, it should be appreciated that the vehicle operational display may be a display incapable of receiving touch input. For instance, the operational display  420  that spans across an interior space centerline  404  and across both a first zone  408 A and a second zone  408 B may be isolated from receiving input from touch, especially from a passenger. In some cases, a display that provides vehicle operation or critical systems information and interface may be restricted from receiving touch input and/or be configured as a non-touch display. This type of configuration can prevent dangerous mistakes in providing touch input where such input may cause an accident or unwanted control. 
     In some embodiments, one or more displays of the instrument panel  400  may be mobile devices and/or applications residing on a mobile device such as a smart phone. Additionally, or alternatively, any of the information described herein may be presented to one or more portions  420 A-N of the operational display  420  or other display  424 ,  428 ,  434 . In one embodiment, one or more displays of the instrument panel  400  may be physically separated or detached from the instrument panel  400 . In some cases, a detachable display may remain tethered to the instrument panel. 
     The portions  420 A-N of the operational display  420  may be dynamically reconfigured and/or resized to suit any display of information as described. Additionally, or alternatively, the number of portions  420 A-N used to visually present information via the operational display  420  may be dynamically increased or decreased as required, and are not limited to the configurations shown. 
       FIG. 5  illustrates a hardware diagram of communications componentry that can be optionally associated with the vehicle  100  in accordance with embodiments of the present disclosure. 
     The communications componentry can include one or more wired or wireless devices such as a transceiver(s) and/or modem that allows communications not only between the various systems disclosed herein but also with other devices, such as devices on a network, and/or on a distributed network such as the Internet and/or in the cloud and/or with other vehicle(s). 
     The communications subsystem  350  can also include inter- and intra-vehicle communications capabilities such as hotspot and/or access point connectivity for any one or more of the vehicle occupants and/or vehicle-to-vehicle communications. 
     Additionally, and while not specifically illustrated, the communications subsystem  350  can include one or more communications links (that can be wired or wireless) and/or communications busses (managed by the bus manager  574 ), including one or more of CANbus, OBD-II, ARCINC 429, Byteflight, CAN (Controller Area Network), D2B (Domestic Digital Bus), FlexRay, DC-BUS, IDB-1394, IEBus, I2C, ISO 9141-1/-2, J1708, J1587, J1850, J1939, ISO 11783, Keyword Protocol 2000, LIN (Local Interconnect Network), MOST (Media Oriented Systems Transport), Multifunction Vehicle Bus, SMARTwireX, SPI, VAN (Vehicle Area Network), and the like or in general any communications protocol and/or standard(s). 
     The various protocols and communications can be communicated one or more of wirelessly and/or over transmission media such as single wire, twisted pair, fiber optic, IEEE 1394, MIL-STD-1553, MIL-STD-1773, power-line communication, or the like. (All of the above standards and protocols are incorporated herein by reference in their entirety). 
     As discussed, the communications subsystem  350  enables communications between any if the inter-vehicle systems and subsystems as well as communications with non-collocated resources, such as those reachable over a network such as the Internet. 
     The communications subsystem  350 , in addition to well-known componentry (which has been omitted for clarity), includes interconnected elements including one or more of: one or more antennas  504 , an interleaver/deinterleaver  508 , an analog front end (AFE)  512 , memory/storage/cache  516 , controller/microprocessor  520 , MAC circuitry  522 , modulator/demodulator  524 , encoder/decoder  528 , a plurality of connectivity managers  534 ,  558 ,  562 ,  566 , GPU  540 , accelerator  544 , a multiplexer/demultiplexer  552 , transmitter  570 , receiver  572  and wireless radio  578  components such as a Wi-Fi PHY/Bluetooth® module  580 , a Wi-Fi/BT MAC module  584 , transmitter  588  and receiver  592 . The various elements in the device  350  are connected by one or more links/busses 5 (not shown, again for sake of clarity). 
     The device  350  can have one more antennas  504 , for use in wireless communications such as multi-input multi-output (MIMO) communications, multi-user multi-input multi-output (MU-MIMO) communications Bluetooth®, LTE, 4G, 5G, Near-Field Communication (NFC), etc., and in general for any type of wireless communications. The antenna(s)  504  can include, but are not limited to one or more of directional antennas, omnidirectional antennas, monopoles, patch antennas, loop antennas, microstrip antennas, dipoles, and any other antenna(s) suitable for communication transmission/reception. In an exemplary embodiment, transmission/reception using MIMO may require particular antenna spacing. In another exemplary embodiment, MIMO transmission/reception can enable spatial diversity allowing for different channel characteristics at each of the antennas. In yet another embodiment, MIMO transmission/reception can be used to distribute resources to multiple users for example within the vehicle  100  and/or in another vehicle. 
     Antenna(s)  504  generally interact with the Analog Front End (AFE)  512 , which is needed to enable the correct processing of the received modulated signal and signal conditioning for a transmitted signal. The AFE  512  can be functionally located between the antenna and a digital baseband system in order to convert the analog signal into a digital signal for processing and vice-versa. 
     The subsystem  350  can also include a controller/microprocessor  520  and a memory/storage/cache  516 . The subsystem  350  can interact with the memory/storage/cache  516  which may store information and operations necessary for configuring and transmitting or receiving the information described herein. The memory/storage/cache  516  may also be used in connection with the execution of application programming or instructions by the controller/microprocessor  520 , and for temporary or long-term storage of program instructions and/or data. As examples, the memory/storage/cache  520  may comprise a computer-readable device, RAM, ROM, DRAM, SDRAM, and/or other storage device(s) and media. 
     The controller/microprocessor  520  may comprise a general-purpose programmable processor or controller for executing application programming or instructions related to the subsystem  350 . Furthermore, the controller/microprocessor  520  can perform operations for configuring and transmitting/receiving information as described herein. The controller/microprocessor  520  may include multiple processor cores, and/or implement multiple virtual processors. Optionally, the controller/microprocessor  520  may include multiple physical processors. By way of example, the controller/microprocessor  520  may comprise a specially configured Application Specific Integrated Circuit (ASIC) or other integrated circuit, a digital signal processor(s), a controller, a hardwired electronic or logic circuit, a programmable logic device or gate array, a special purpose computer, or the like. 
     The subsystem  350  can further include a transmitter  570  and receiver  572  which can transmit and receive signals, respectively, to and from other devices, subsystems and/or other destinations using the one or more antennas  504  and/or links/busses. Included in the subsystem  350  circuitry is the medium access control or MAC Circuitry  522 . MAC circuitry  522  provides for controlling access to the wireless medium. In an exemplary embodiment, the MAC circuitry  522  may be arranged to contend for the wireless medium and configure frames or packets for communicating over the wired/wireless medium. 
     The subsystem  350  can also optionally contain a security module (not shown). This security module can contain information regarding but not limited to, security parameters required to connect the device to one or more other devices or other available network(s), and can include WEP or WPA/WPA-2 (optionally+AES and/or TKIP) security access keys, network keys, etc. The WEP security access key is a security password used by Wi-Fi networks. Knowledge of this code can enable a wireless device to exchange information with an access point and/or another device. The information exchange can occur through encoded messages with the WEP access code often being chosen by the network administrator. WPA is an added security standard that is also used in conjunction with network connectivity with stronger encryption than WEP. 
     In some embodiments, the communications subsystem  350  also includes a GPU  540 , an accelerator  544 , a Wi-Fi/BT/BLE PHY module  580  and a Wi-Fi/BT/BLE MAC module  584  and wireless transmitter  588  and receiver  592 . In some embodiments, the GPU  540  may be a graphics processing unit, or visual processing unit, comprising at least one circuit and/or chip that manipulates and changes memory to accelerate the creation of images in a frame buffer for output to at least one display device. The GPU  540  may include one or more of a display device connection port, printed circuit board (PCB), a GPU chip, a metal-oxide-semiconductor field-effect transistor (MOSFET), memory (e.g., single data rate random-access memory (SDRAM), double data rate random-access memory (DDR) RAM, etc., and/or combinations thereof), a secondary processing chip (e.g., handling video out capabilities, processing, and/or other functions in addition to the GPU chip, etc.), a capacitor, heatsink, temperature control or cooling fan, motherboard connection, shielding, and the like. 
     The various connectivity managers  534 ,  558 ,  562 ,  566  manage and/or coordinate communications between the subsystem  350  and one or more of the systems disclosed herein and one or more other devices/systems. The connectivity managers  534 ,  558 ,  562 ,  566  include a charging connectivity manager  534 , a vehicle database connectivity manager  558 , a remote operating system connectivity manager  562 , and a sensor connectivity manager  566 . 
     The charging connectivity manager  534  can coordinate not only the physical connectivity between the vehicle  100  and a charging device/vehicle, but can also communicate with one or more of a power management controller, one or more third parties and optionally a billing system(s). As an example, the vehicle  100  can establish communications with the charging device/vehicle to one or more of coordinate interconnectivity between the two (e.g., by spatially aligning the charging receptacle on the vehicle with the charger on the charging vehicle) and optionally share navigation information. Once charging is complete, the amount of charge provided can be tracked and optionally forwarded to, for example, a third party for billing. In addition to being able to manage connectivity for the exchange of power, the charging connectivity manager  534  can also communicate information, such as billing information to the charging vehicle and/or a third party. This billing information could be, for example, the owner of the vehicle, the driver/occupant(s) of the vehicle, company information, or in general any information usable to charge the appropriate entity for the power received. 
     The vehicle database connectivity manager  558  allows the subsystem to receive and/or share information stored in the vehicle database. This information can be shared with other vehicle components/subsystems and/or other entities, such as third parties and/or charging systems. The information can also be shared with one or more vehicle occupant devices, such as an app (application) on a mobile device the driver uses to track information about the vehicle  100  and/or a dealer or service/maintenance provider. In general, any information stored in the vehicle database can optionally be shared with any one or more other devices optionally subject to any privacy or confidentially restrictions. 
     The remote operating system connectivity manager  562  facilitates communications between the vehicle  100  and any one or more autonomous vehicle systems. These communications can include one or more of navigation information, vehicle information, other vehicle information, weather information, occupant information, or in general any information related to the remote operation of the vehicle  100 . 
     The sensor connectivity manager  566  facilitates communications between any one or more of the vehicle sensors (e.g., the driving vehicle sensors and systems  304 , etc.) and any one or more of the other vehicle systems. The sensor connectivity manager  566  can also facilitate communications between any one or more of the sensors and/or vehicle systems and any other destination, such as a service company, app, or in general to any destination where sensor data is needed. 
     In accordance with one exemplary embodiment, any of the communications discussed herein can be communicated via the conductor(s) used for charging. One exemplary protocol usable for these communications is Power-line communication (PLC). PLC is a communication protocol that uses electrical wiring to simultaneously carry both data, and Alternating Current (AC) electric power transmission or electric power distribution. It is also known as power-line carrier, power-line digital subscriber line (PDSL), mains communication, power-line telecommunications, or power-line networking (PLN). For DC environments in vehicles PLC can be used in conjunction with CAN-bus, LIN-bus over power line (DC-LIN) and DC-BUS. 
     The communications subsystem can also optionally manage one or more identifiers, such as an IP (internet protocol) address(es), associated with the vehicle and one or other system or subsystems or components therein. These identifiers can be used in conjunction with any one or more of the connectivity managers as discussed herein. 
       FIG. 6  illustrates a block diagram of a computing environment  600  that may function as the servers, user computers, or other systems provided and described herein. The computing environment  600  includes one or more user computers, or computing devices, such as a vehicle computing device  604 , a communication device  608 , and/or more  612 . The computing devices  604 ,  608 ,  612  may include general purpose personal computers (including, merely by way of example, personal computers, and/or laptop computers running various versions of Microsoft Corp.&#39;s Windows® and/or Apple Inc.&#39;s Macintosh® operating systems macOS) and/or workstation computers running any of a variety of commercially-available UNIX® or UNIX-like operating systems and Apple Inc&#39;s iOS devices and Google Android devices. These computing devices  604 ,  608 ,  612  may also have any of a variety of applications, including for example, database client and/or server applications, and web browser applications. Alternatively, the computing devices  604 ,  608 ,  612  may be any other electronic device, such as a thin-client computer, Internet-enabled mobile telephone, and/or personal digital assistant, capable of communicating via a network  352  and/or displaying and navigating web pages or other types of electronic documents. Although the exemplary computing environment  600  is shown with two computing devices, any number of user computers or computing devices may be supported. 
     The computing environment  600  may also include one or more servers  614 ,  616 . In this example, server  614  is shown as a web server and server  616  is shown as an application server. The web server  614 , which may be used to process requests for web pages or other electronic documents from computing devices  604 ,  608 ,  612 . The web server  614  can be running an operating system including any of those discussed above, as well as any commercially-available server operating systems. The web server  614  can also run a variety of server applications, including SIP (Session Initiation Protocol) servers, HTTP(s) servers, FTP servers, CGI servers, database servers, Java servers, and the like. In some instances, the web server  614  may publish operations available operations as one or more web services. 
     The computing environment  600  may also include one or more file and or/application servers  616 , which can, in addition to an operating system, include one or more applications accessible by a client running on one or more of the computing devices  604 ,  608 ,  612 . The server(s)  616  and/or  614  may be one or more general purpose computers capable of executing programs or scripts in response to the computing devices  604 ,  608 ,  612 . As one example, the server  616 ,  614  may execute one or more web applications. The web application may be implemented as one or more scripts or programs written in any programming language, such as JavaScript, Java™, C, C#®, or C++, and/or any scripting language, such as Perl, Python, or TCL, as well as combinations of any programming/scripting languages. The application server(s)  616  may also include database servers, including without limitation those commercially available from Oracle®, Microsoft®, Sybase®, IBM® and the like, which can process requests from database clients running on a computing device  604 ,  608 ,  612 . 
     The web pages created by the server  614  and/or  616  may be forwarded to a computing device  604 ,  608 ,  612  via a web (file) server  614 ,  616 . Similarly, the web server  614  may be able to receive web page requests, web services invocations, and/or input data from a computing device  604 ,  608 ,  612  (e.g., a user computer, etc.) and can forward the web page requests and/or input data to the web (application) server  616 . In further embodiments, the server  616  may function as a file server. Although for ease of description,  FIG. 6  illustrates a separate web server  614  and file/application server  616 , those skilled in the art will recognize that the functions described with respect to servers  614 ,  616  may be performed by a single server and/or a plurality of specialized servers, depending on implementation-specific needs and parameters. The computer systems  604 ,  608 ,  612 , web (file) server  614  and/or web (application) server  616  may function as the system, devices, or components described in  FIGS. 1-6 . 
     The computing environment  600  may also include a database  618 . The database  618  may reside in a variety of locations. By way of example, database  618  may reside on a storage medium local to (and/or resident in) one or more of the computers  604 ,  608 ,  612 ,  614 ,  616 . Alternatively, it may be remote from any or all of the computers  604 ,  608 ,  612 ,  614 ,  616 , and in communication (e.g., via the network  352 ) with one or more of these. The database  618  may reside in a storage-area network (“SAN”) familiar to those skilled in the art. Similarly, any necessary files for performing the functions attributed to the computers  604 ,  608 ,  612 ,  614 ,  616  may be stored locally on the respective computer and/or remotely, as appropriate. The database  618  may be a relational database, such as Oracle 20i®, that is adapted to store, update, and retrieve data in response to SQL-formatted commands. 
       FIG. 7  illustrates one embodiment of a computer system  700  upon which the servers, user computers, computing devices, or other systems or components described above may be deployed or executed. The computer system  700  is shown comprising hardware elements that may be electrically coupled via a bus  704 . The hardware elements may include one or more central processing units (CPUs)  708 ; one or more input devices  712  (e.g., a mouse, a keyboard, etc.); and one or more output devices  716  (e.g., a display device, a printer, etc.). The computer system  700  may also include one or more storage devices  720 . By way of example, storage device(s)  720  may be disk drives, optical storage devices, solid-state storage devices such as a random-access memory (“RAM”) and/or a read-only memory (“ROM”), which can be programmable, flash-updateable and/or the like. 
     The computer system  700  may additionally include a computer-readable storage media reader  724 ; a communications system  728  (e.g., a modem, a network card (wireless or wired), an infra-red communication device, etc.); and working memory  736 , which may include RAM and ROM devices as described above. The computer system  700  may also include a processing acceleration unit  732 , which can include a DSP, a special-purpose processor, and/or the like. 
     The computer-readable storage media reader  724  can further be connected to a computer-readable storage medium, together (and, optionally, in combination with storage device(s)  720 ) comprehensively representing remote, local, fixed, and/or removable storage devices plus storage media for temporarily and/or more permanently containing computer-readable information. The communications system  728  may permit data to be exchanged with a network and/or any other computer described above with respect to the computer environments described herein. Moreover, as disclosed herein, the term “storage medium” may represent one or more devices for storing data, including read only memory (ROM), random access memory (RAM), magnetic RAM, core memory, magnetic disk storage mediums, optical storage mediums, flash memory devices and/or other machine-readable mediums for storing information. 
     The computer system  700  may also comprise software elements, shown as being currently located within a working memory  736 , including an operating system  740  and/or other code  744 . It should be appreciated that alternate embodiments of a computer system  700  may have numerous variations from that described above. For example, customized hardware might also be used and/or particular elements might be implemented in hardware, software (including portable software, such as applets), or both. Further, connection to other computing devices such as network input/output devices may be employed. 
     Examples of the processors  340 ,  708  as described herein may include, but are not limited to, at least one of Qualcomm® Snapdragon® 800 and 801, Qualcomm® Snapdragon® 620 and 615 with 4G LTE Integration and 64-bit computing, Apple® A7 processor with 64-bit architecture, Apple® M7 motion coprocessors, Samsung® Exynos® series, the Intel® Core™ family of processors, the Intel® Xeon® family of processors, the Intel® Atom™ family of processors, the Intel Itanium® family of processors, Intel® Core® i5-4670K and i7-4770K 22 nm Haswell, Intel® Core® i5-3570K 22 nm Ivy Bridge, the AMD® FX™ family of processors, AMD® FX-4300, FX-6300, and FX-8350 32 nm Vishera, AMD® Kaveri processors, Texas Instruments® Jacinto C6000™ automotive infotainment processors, Texas Instruments® OMAP™ automotive-grade mobile processors, ARM® Cortex™-M processors, ARM® Cortex-A and ARM926EJS™ processors, other industry-equivalent processors, and may perform computational functions using any known or future-developed standard, instruction set, libraries, and/or architecture. 
       FIGS. 8A and 8B  illustrate an example implementation of noise control system  370  in accordance with the present disclosure. 
     As illustrated in  FIG. 8A , the vehicle  800  and the bicyclist  820  are traveling on the roadway  830 . The vehicle  800  may be an electric vehicle similar to vehicle  100  in  FIG. 1 . In order to alert the bicyclist  820  of its presence, the vehicle  800  outputs a noise  810 . For example, sensors on vehicle  800  may detect an object (e.g., the bicyclist  820 ) near the vehicle  800  and determine characteristics of the detected object. For example, the vehicle  800  may determine a distance between the vehicle  800  and the bicyclist  820 . Additionally, the sensors may be able to detect that the detected object is a bicyclist not a motorcycle, pedestrian, animal, etc. An instruction is sent to the noise generating system of the vehicle to emit a noise to warn the object near the vehicle (e.g., bicyclist). 
       FIG. 8B  illustrates the vehicle  800  getting closer to the bicyclist  820 , in response, the vehicle noise output  810  is adjusted. For example, the vehicle  800  adjusts vehicle noise output to  810   b,  which may be louder and/or more frequent as indicated by the larger icon for the vehicle noise output  810   b.  In some embodiments, the noise generating system may select a noise output system based on the portion of the vehicle that the object is detected near. For example, if the bicyclist  820  is in front of the vehicle  800 , the noise generating system may output the noise from audio output systems located near or at the front of the vehicle  800 . Conversely, if the bicyclist  820  is to the side of the vehicle  800 , the noise generating system may output the noise from audio output systems located near the side of the vehicle  800  where the bicyclist  820  is detected. Additionally, the noise generating system may cease to emit the noise once the object is no longer detected. For example, once the vehicle  800  passes the bicyclist  820 , the noise generating system may cease to emit the noise  810 . 
       FIG. 9  illustrates another example implementation of noise control system  370  in accordance with the present disclosure. 
     As illustrated in  FIG. 9 , the vehicle  900  and the motorcycle  920  are traveling on the roadway  930 . The vehicle  900  may be an electric vehicle similar to vehicle  100  in  FIG. 1 . In order to alert the motorcycle  920  of its presence, the vehicle  800  outputs a noise  910 . For example, sensors on vehicle  800  may detect the motorcycle  920  near the vehicle  900  and determine characteristics of the detected object. For example, the vehicle  900  may determine a distance between the vehicle  900  and the bicyclist  920 , by continuously calculating the distance between the vehicle  900  and the motorcycle  920 , or by other means, the vehicle  900  may also determine a speed of motorcycle  920 , thereby the vehicle  900  may determine that motorcycle  920  is a motorized bike rather than a scooter or bicycle. As the detected object is a motorcycle, rather than a bicycle as in the precious example, the noise control system of the vehicle  900  may output a louder and/or different noise that would be audible/distinguishable to a person on a motorcycle compared to the noise required to be audible to a person on a bicycle. 
       FIG. 10  illustrates an example implementation of noise control system  370  in accordance with the present disclosure. 
     As illustrated in  FIG. 10 , the dog  1020  is detected near the vehicle  1000 . The vehicle  1000  may be an electric vehicle similar to vehicle  100  in  FIG. 1 . The driver of vehicle  1000  may be concerned that the dog  1020  may suddenly run out in front of the vehicle  1000 , therefore, the vehicle noise output  1010  by the vehicle  1000  may be intended to discourage the dog  1020  from running out in front of the vehicle  1000 . In some examples, the vehicle noise output  1010  may comprise a specific sound file that is played. In addition to determining characteristics of detected objects, the vehicle  1000  may determine an operational condition (e.g., speed, direction, environmental conditions, etc.) 
       FIG. 11  illustrates an example implementation of noise control system  370  in accordance with the present disclosure. 
     As illustrated in  FIG. 11 , the vehicle  1100  detects a runner/pedestrian  1120  nearby. The vehicle  1100  may be an electric vehicle similar to vehicle  100  in  FIG. 1 . In order to alert the runner  1120  of its presence, the vehicle  1100  outputs a noise  1110 . For example, sensors on vehicle  1100  may detect an object (e.g., the pedestrian  1120 ) near the vehicle  1100  and determine characteristics of the detected object. For example, the vehicle  1100  may determine a distance between the vehicle  1100  and the pedestrian  1120 . In  FIG. 11 , the noise control system of the vehicle  1110  may also control other aspects of the vehicle  1110 , such as lights located on the vehicle  1110  to provide additional or alternative alerts to nearby objects. For example, lights  1111  may flash to help alert the pedestrian  1120 . The vehicle  1110  may detect other characteristics of an object, such as, but not limited to, speed, type (e.g., motorize, non-motorized, etc.), size, shape, height, vector of movement, etc. 
       FIG. 12  illustrates an example implementation of noise control system  370  in accordance with the present disclosure. 
     As illustrated in  FIG. 12 , the vehicle  1200  is traveling on a city street  1230 , which includes other vehicles  1231 , pedestrians  1232 , bicyclist  1233 , ambient noise, etc. The vehicle  1200  may be an electric vehicle similar to vehicle  100  in  FIG. 1 . In order to alert the other vehicles  1231 , the pedestrians  1232 , and the bicyclist  1232  of its presence, the vehicle  1200  outputs a noise  1210 . For example, an ADAS may be included on vehicle  1200 , which is used to detect objects near the vehicle  1200 , the ADAS alerts the noise control system  370  of detected object(s). In this example, the vehicle noise outputted by the vehicle  1200  needs to be distinct and audible to multiple different types of detected objects. In addition, the speed of the vehicle  1200  may be another factor used to adjust the vehicle noise (e.g., the higher the speed, the louder the noise). 
       FIG. 13  illustrates an example implementation of noise control system  370  in accordance with the present disclosure. 
     As illustrated in  FIG. 13 , the vehicle  1300  is driving on highway  1330 . On the highway  1330  there is generally no pedestrians and bicyclists, just other nearby motorists (e.g., motorcycles and other cars/vehicles), therefore vehicle noise  1310  should be adjusted based on the detected conditions of the traffic environment of the vehicle  1300 . For example, the noise control system  370  may send an instruction to a noise generating system and/or audio output devices to output a particular sound and/or adjust characteristics of the nose (e.g., intensity, frequency, etc.). 
     Referring to  FIGS. 14A-14B  show schematic views of imaging sensor information  1401 - 1402 , detected by at least one imaging system of the vehicle  100 , describing a visual environment (e.g., at some point at or around the vehicle  100 ) that changes over time (T 1 -T 2 ) (e.g., while the vehicle  100  is driving, etc.). In some embodiments, the imaging system may be one or more of the imaging sensors  116 A,  116 F,  332 ,  336  (e.g., a camera, etc.) described above. The schematic views of  14 A- 14 B show computer-generated images  1401 - 1402  including one or more objects  1404 A-C that are detected as changing in shape, size, range, and/or geometry while the vehicle  100  is operating along a path  1406  or roadway. 
       FIG. 14A  shows a schematic view of imaging sensor information  1401  detected by the imaging system of the vehicle  100  at a first time of travel T 1  in accordance with embodiments of the present disclosure. In some embodiments, the vehicle  100  may be driving down a street, roadway, or other driving path  1406 . As the vehicle  100  is driving, the imaging system may visually detect objects in a sensing area of the imaging system describing (e.g., visually) an environment outside of the vehicle  100 . The environment may include a first object  1404 A (e.g., another vehicle, a pedestrian, an object, etc.), a second object  1404 B (e.g., a building), and a third object  1404 C (e.g., a bicyclist) on the roadway  1406 . 
     As the vehicle  100  moves along the path  1406 , visual characteristics associated with the objects  1404 A-C may change at a second time T 2 .  FIG. 14B  shows a schematic view of imaging sensor information  1402  detected by the imaging system of the vehicle  100  at a second time of travel T 2  in accordance with embodiments of the present disclosure. In  FIG. 14B , the range to all of the objects  1404 A-C has changed. For example, the size and shape of the vehicle target  1404 A and the building object  1404 B have increased in dimension at the second time T 2 , while bicyclist  1404 C is shown moving into the image. As bicyclist  1404 C moves closer into the path of the vehicle  100 , the vehicle noise output may be adjusted. For example, the vehicle noise may get louder and/or more frequent as the vehicle  100  and the bicyclist  1404 C get closer. 
     As the vehicle  100  continues to move along the path  1406  at a subsequent time, the visual characteristics associated with the objects  1404 A-C may continue to change. 
       FIG. 15  is a flow diagram of a first method  1500  for adjusting vehicle noise output based on a detected object near the vehicle  100  in accordance with embodiments of the present disclosure. 
     While a general order for the steps of the method  1500  is shown in  FIG. 15  the method  1500  can include more or fewer steps or can arrange the order of the steps differently than those shown in  FIG. 15 . Generally, the method  1500  starts with a start operation  1504  and ends with an end operation  1532 . The method  1500  can be executed as a set of computer-executable instructions executed by a computer system and encoded or stored on a computer readable medium. Hereinafter, the method  1500  shall be explained with reference to the systems, components, assemblies, devices, user interfaces, environments, software, etc. described in conjunction with  FIGS. 1-14 . 
     The method  1500  begins at step  1504  and proceeds by monitoring the sensor detection output from one or more sensors associated with the vehicle  100  (step  1508 ). In some embodiments, the sensors may be one or more of the ADAS vehicle sensors described above. In any event, the sensors may repeatedly, or continually, emit and receive sensing signals in an environment outside of the vehicle  100 . In one embodiment, the monitoring may include a process of repeatedly receiving sensor information, interpreting the sensor information, and processing the sensor information. The sensor processor  340  described above may be configured to receive output from one or more sensors associated with the vehicle  100  and process the output. Typically, the sensors are disposed in, on, and/or about a vehicle  100  to, among other things, measure an environment around at least a portion of the vehicle  100  (e.g., a driving environment, parking environment, etc.). In some embodiments, sensor information and data may be stored in the sensor data memory  356 A. 
     Next, the method  1500  continues by determining whether an object (e.g., another vehicle, animal, pedestrian, etc.) has been detected (step  1512 ). If no object has been detected (No), the method continues to monitor the sensor output (step  1508 ). If an object is detected (Yes) the method  1500  proceeds to determining one or more characteristics (e.g., speed, type, shape, size, type, etc.) of the detected object (step  1516 ). In some embodiments, the determination may be based on stored information. 
     The method  1500  may proceed by determining the distance between the vehicle  100  and the detected object (step  1520 ). The distance may be used to adjust characteristics of the vehicle noise (e.g., intensity and/or frequency). In some embodiments, the vehicle noise will increase in intensity and/or frequency as the vehicle  100  gets closer to the detected object. The method  1500  may proceed by sending a message including information about the detected object to the noise control system  370 , a user of the vehicle  100 , a computing device  368 ,  604 ,  608 ,  612 , a display device  372 , a vehicle control system  348 , and/or some other device associated with the vehicle  100  (step  1524 ). In some embodiments, the message may include instructions and/or a command for the noise control system  370  of the vehicle  100  to adjust the vehicle noise outputted by the vehicle  100 . In some embodiments, the instructions may include information about a specific audio output device to output the vehicle noise. For example, if the detected object is in from of the vehicle  100 , the selected audio output device may be located at or near the front of the vehicle. The method ends at step  1532 . 
     Any of the steps, functions, and operations discussed herein can be performed continuously and automatically. 
     The exemplary systems and methods of this disclosure have been described in relation to vehicle systems and electric vehicles. However, to avoid unnecessarily obscuring the present disclosure, the preceding description omits a number of known structures and devices. This omission is not to be construed as a limitation of the scope of the claimed disclosure. Specific details are set forth to provide an understanding of the present disclosure. It should, however, be appreciated that the present disclosure may be practiced in a variety of ways beyond the specific detail set forth herein. 
     Furthermore, while the exemplary embodiments illustrated herein show the various components of the system collocated, certain components of the system can be located remotely, at distant portions of a distributed network, such as a LAN and/or the Internet, or within a dedicated system. Thus, it should be appreciated, that the components of the system can be combined into one or more devices, such as a server, communication device, or collocated on a particular node of a distributed network, such as an analog and/or digital telecommunications network, a packet-switched network, or a circuit-switched network. It will be appreciated from the preceding description, and for reasons of computational efficiency, that the components of the system can be arranged at any location within a distributed network of components without affecting the operation of the system. 
     Furthermore, it should be appreciated that the various links connecting the elements can be wired or wireless links, or any combination thereof, or any other known or later developed element(s) that is capable of supplying and/or communicating data to and from the connected elements. These wired or wireless links can also be secure links and may be capable of communicating encrypted information. Transmission media used as links, for example, can be any suitable carrier for electrical signals, including coaxial cables, copper wire, and fiber optics, and may take the form of acoustic or light waves, such as those generated during radio-wave and infra-red data communications. 
     While the flowcharts have been discussed and illustrated in relation to a particular sequence of events, it should be appreciated that changes, additions, and omissions to this sequence can occur without materially affecting the operation of the disclosed embodiments, configuration, and aspects. 
     A number of variations and modifications of the disclosure can be used. It would be possible to provide for some features of the disclosure without providing others. 
     In yet another embodiment, the systems and methods of this disclosure can be implemented in conjunction with a special purpose computer, a programmed microprocessor or microcontroller and peripheral integrated circuit element(s), an ASIC or other integrated circuit, a digital signal processor, a hard-wired electronic or logic circuit such as discrete element circuit, a programmable logic device or gate array such as PLD, PLA, FPGA, PAL, special purpose computer, any comparable means, or the like. In general, any device(s) or means capable of implementing the methodology illustrated herein can be used to implement the various aspects of this disclosure. Exemplary hardware that can be used for the present disclosure includes computers, handheld devices, telephones (e.g., cellular, Internet enabled, digital, analog, hybrids, and others), and other hardware known in the art. Some of these devices include processors (e.g., a single or multiple microprocessors), memory, nonvolatile storage, input devices, and output devices. Furthermore, alternative software implementations including, but not limited to, distributed processing or component/object distributed processing, parallel processing, or virtual machine processing can also be constructed to implement the methods described herein. 
     In yet another embodiment, the disclosed methods may be readily implemented in conjunction with software using object or object-oriented software development environments that provide portable source code that can be used on a variety of computer or workstation platforms. Alternatively, the disclosed system may be implemented partially or fully in hardware using standard logic circuits or VLSI design. Whether software or hardware is used to implement the systems in accordance with this disclosure is dependent on the speed and/or efficiency requirements of the system, the particular function, and the particular software or hardware systems or microprocessor or microcomputer systems being utilized. 
     In yet another embodiment, the disclosed methods may be partially implemented in software that can be stored on a storage medium, executed on programmed general-purpose computer with the cooperation of a controller and memory, a special purpose computer, a microprocessor, or the like. In these instances, the systems and methods of this disclosure can be implemented as a program embedded on a personal computer such as an applet, JAVA® or CGI script, as a resource residing on a server or computer workstation, as a routine embedded in a dedicated measurement system, system component, or the like. The system can also be implemented by physically incorporating the system and/or method into a software and/or hardware system. 
     Although the present disclosure describes components and functions implemented in the embodiments with reference to particular standards and protocols, the disclosure is not limited to such standards and protocols. Other similar standards and protocols not mentioned herein are in existence and are considered to be included in the present disclosure. Moreover, the standards and protocols mentioned herein, and other similar standards and protocols not mentioned herein are periodically superseded by faster or more effective equivalents having essentially the same functions. Such replacement standards and protocols having the same functions are considered equivalents included in the present disclosure. 
     The present disclosure, in various embodiments, configurations, and aspects, includes components, methods, processes, systems and/or apparatus substantially as depicted and described herein, including various embodiments, subcombinations, and subsets thereof. Those of skill in the art will understand how to make and use the systems and methods disclosed herein after understanding the present disclosure. The present disclosure, in various embodiments, configurations, and aspects, includes providing devices and processes in the absence of items not depicted and/or described herein or in various embodiments, configurations, or aspects hereof, including in the absence of such items as may have been used in previous devices or processes, e.g., for improving performance, achieving ease, and/or reducing cost of implementation. 
     The foregoing discussion of the disclosure has been presented for purposes of illustration and description. The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description for example, various features of the disclosure are grouped together in one or more embodiments, configurations, or aspects for the purpose of streamlining the disclosure. The features of the embodiments, configurations, or aspects of the disclosure may be combined in alternate embodiments, configurations, or aspects other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure. 
     Moreover, though the description of the disclosure has included description of one or more embodiments, configurations, or aspects and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights, which include alternative embodiments, configurations, or aspects to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges, or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges, or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter. 
     Embodiments include a method, comprising: determining, via a processor, an operating condition of a vehicle; receiving, via the processor, output from at least one sensor of the vehicle monitoring an environment around a portion of the vehicle, wherein the output indicates presence of an object near the portion of the vehicle; determining, via the processor, at least one characteristic of the object; determining, via the processor, a distance from the portion of the vehicle to the object; and sending, via the processor, an instruction to a noise control system of the vehicle. 
     Aspects of the above method include sending an instruction to the noise generating system of the vehicle to emit noise to warn the objected detected near the vehicle. 
     Aspects of the above method include sending an instruction to the noise generating system of the vehicle to cease emission of the noise when the at least one sensor indicated an absence of an object near the vehicle. 
     Aspects of the above method include adjusting vehicle noise output based on the determined characteristics of the detected object and/or distance between the detected object and the vehicle. 
     Aspects of the above method include wherein the at least one characteristic of the object comprises at least one of: mode of transportation, speed of movement, height, and/or shape. 
     Aspects of the above method include wherein the mode of transportation comprises one of: motorized or non-motorized. 
     Aspects of the above method include wherein the mode of transportation comprises one of: walking or biking. 
     Aspects of the above method include wherein the instruction comprises a sound file to be played by the noise control system and wherein the noise is generated from the sound file. 
     Aspects of the above method include wherein the instruction comprises a volume of a noise generated by the noise control system. 
     Embodiments include a vehicle, comprising: a noise control system; at least one sensor monitoring an environment around a portion of the vehicle; a microprocessor coupled to the noise control system and the at least one sensor; and a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to: receive output from at least one sensor of the vehicle monitoring an environment around a portion of the vehicle, wherein the output indicates presence of an object near the portion of the vehicle; determine at least one characteristic of the object; determine a distance from the portion of the vehicle to the object; and send an instruction to a noise control system of the vehicle. 
     Aspects of the above vehicle include sending an instruction to the noise generating system of the vehicle to emit noise to warn the objected detected near the vehicle. 
     Aspects of the above vehicle include sending an instruction to the noise generating system of the vehicle to cease emission of the noise when the at least one sensor indicated an absence of an object near the vehicle. 
     Aspects of the above vehicle include adjusting vehicle noise output based on the determined characteristics of the detected object and/or distance between the detected object and the vehicle. 
     Aspects of the above vehicle include wherein the at least one characteristic of the object comprises at least one of: mode of transportation, speed of movement, height, and/or shape. 
     Aspects of the above vehicle include wherein the mode of transportation comprises one of: motorized or non-motorized. 
     Aspects of the above vehicle include wherein the mode of transportation comprises one of: walking or biking. 
     Aspects of the above vehicle include wherein the instruction comprises a sound file to be played by the noise control system and wherein the noise is generated from the sound file. 
     Aspects of the above vehicle include wherein the instruction comprises a volume of a noise generated by the noise control system. 
     Embodiments include a device, comprising: a microprocessor; and a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to: receive output from at least one sensor of the vehicle monitoring an environment around a portion of the vehicle, wherein the output indicates presence of an object near the portion of the vehicle; determine at least one characteristic of the object; determine a distance from the portion of the vehicle to the object; and send an instruction to a noise control system of the vehicle. 
     Aspects of the above device include sending an instruction to the noise generating system of the vehicle to emit noise to warn the objected detected near the vehicle. 
     Aspects of the above device include sending an instruction to the noise generating system of the vehicle to cease emission of the noise when the at least one sensor indicated an absence of an object near the vehicle. 
     Aspects of the above device include adjusting vehicle noise output based on the determined characteristics of the detected object and/or distance between the detected object and the vehicle. 
     Aspects of the above device include wherein the at least one characteristic of the object comprises at least one of: mode of transportation, speed of movement, height, and/or shape. 
     Aspects of the above device include wherein the mode of transportation comprises one of: motorized or non-motorized. 
     Aspects of the above device include wherein the mode of transportation comprises one of: walking or biking. 
     Aspects of the above device include wherein the instruction comprises a sound file to be played by the noise control system. 
     Aspects of the above device include wherein the instruction comprises a volume of a noise generated by the noise control system and wherein the noise is generated from the sound file. 
     Any one or more of the aspects/embodiments as substantially disclosed herein. 
     Any one or more of the aspects/embodiments as substantially disclosed herein optionally in combination with any one or more other aspects/embodiments as substantially disclosed herein. 
     One or means adapted to perform any one or more of the above aspects/embodiments as substantially disclosed herein. 
     The phrases “at least one,” “one or more,” “or,” and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” “A, B, and/or C,” and “A, B, or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. 
     The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more,” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising,” “including,” and “having” can be used interchangeably. 
     The term “automatic” and variations thereof, as used herein, refers to any process or operation, which is typically continuous or semi-continuous, done without material human input when the process or operation is performed. However, a process or operation can be automatic, even though performance of the process or operation uses material or immaterial human input, if the input is received before performance of the process or operation. Human input is deemed to be material if such input influences how the process or operation will be performed. Human input that consents to the performance of the process or operation is not deemed to be “material.” 
     Aspects of the present disclosure may take the form of an embodiment that is entirely hardware, an embodiment that is entirely software (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module,” or “system.” Any combination of one or more computer-readable medium(s) may be utilized. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. 
     A computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. 
     A computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium may be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. 
     The terms “determine,” “calculate,” “compute,” and variations thereof, as used herein, are used interchangeably and include any type of methodology, process, mathematical operation or technique. 
     The term “electric vehicle” (EV), also referred to herein as an electric drive vehicle, may use one or more electric motors or traction motors for propulsion. An electric vehicle may be powered through a collector system by electricity from off-vehicle sources, or may be self-contained with a battery or generator to convert fuel to electricity. An electric vehicle generally includes a rechargeable electricity storage system (RESS) (also called Full Electric Vehicles (FEV)). Power storage methods may include: chemical energy stored on the vehicle in on-board batteries (e.g., battery electric vehicle or BEV), on board kinetic energy storage (e.g., flywheels), and/or static energy (e.g., by on-board double-layer capacitors). Batteries, electric double-layer capacitors, and flywheel energy storage may be forms of rechargeable on-board electrical storage. 
     The term “hybrid electric vehicle” refers to a vehicle that may combine a conventional (usually fossil fuel-powered) powertrain with some form of electric propulsion. Most hybrid electric vehicles combine a conventional internal combustion engine (ICE) propulsion system with an electric propulsion system (hybrid vehicle drivetrain). In parallel hybrids, the ICE and the electric motor are both connected to the mechanical transmission and can simultaneously transmit power to drive the wheels, usually through a conventional transmission. In series hybrids, only the electric motor drives the drivetrain, and a smaller ICE works as a generator to power the electric motor or to recharge the batteries. Power-split hybrids combine series and parallel characteristics. A full hybrid, sometimes also called a strong hybrid, is a vehicle that can run on just the engine, just the batteries, or a combination of both. A mid hybrid is a vehicle that cannot be driven solely on its electric motor, because the electric motor does not have enough power to propel the vehicle on its own. 
     The term “rechargeable electric vehicle” or “REV” refers to a vehicle with on board rechargeable energy storage, including electric vehicles and hybrid electric vehicles.