Sound source detection and location identification for autonomous vehicles

摘要

PROBLEM TO BE SOLVED: To recognize real-time sound source and position identification of an obstacle or an object around an own vehicle. SOLUTION: Audio data is received from a plurality of audio sensors attached to an autonomous driving vehicle (ADV). Audio data includes sounds captured by audio sensors and emitted from one or more sound sources. In this method, a plurality of sound source information is further determined based on the received audio data. Each source information includes a confidence score associated with the presence of a particular sound. The method further generates a data representation for reporting the presence or absence of a particular sound in the operating environment of the ADV. The data representation includes determined sound source information. The machine learning algorithm is subsequently trained using the received audio data and the generated data representation to recognize a specific sound source in real time during autonomous driving of the ADV. [Selection diagram] FIG. 7