Patent Document ID: 9873428
Application ID: 14924187

Base Claim:
1. A system for an autonomous vehicle comprising: two or more microphones mounted to the autonomous vehicle; a controller executing a pre-processor programmed to detect audio features in two or more audio streams from the two or more microphones; a collision avoidance module programmed to classify the audio features and a direction to a source thereof, and, if the class for the sound source is a vehicle, invoke obstacle avoidance with respect to the direction; wherein the collision avoidance module is further programmed to: classify the audio features by inputting the audio features into a machine learning model; and wherein the machine-learning model outputs a confidence value indicating a probability that the audio features correspond to a vehicle.

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Claim 3:
3. The system of claim 1 , wherein the collision avoidance module is further programmed to: receive two or more image streams from two or more cameras mounted to the autonomous vehicle; identify a set of potential obstacles among the plurality of vehicle images; evaluate possible collisions between the autonomous vehicle and the set of potential obstacles and the source of the audio features; and activate at least one of a steering actuator, accelerator actuator, and brake actuator of the autonomous vehicle effective to avoid collisions with the set of potential obstacles.