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 5:
5. The system of claim 1 , wherein the collision avoidance module is further programmed to identify the audio features by filtering the two or more audio streams to obtain two or more filtered signals each including one or more of the audible features.