DETECTION AND CLASSIFICATION OF SIREN SIGNALS AND LOCALIZATION OF SIREN SIGNAL SOURCES

摘要

In one embodiment, a method includes: capturing, by one or more microphone arrays of a vehicle, a sound signal in an environment; extracting frequency spectral features from the sound signal; predicting one or more siren signal classifications using the acoustic scene classifier and frequency spectral features; converting one or more siren signal classifications into one or more siren signal event detections; calculating a time delay estimate for the one or more detected siren signals; estimating one or more azimuths for one or more sources of one or more detected siren signals using the time delay estimate and the known geometry of the microphone array; and using the Bayesian filter to track the one or more azimuth angles. When a siren is detected, an action is performed by the vehicle depending on the location of the emergency vehicle and whether the emergency vehicle is active or inactive.