US 11,735,205 B2
Audio logging for model training and onboard validation utilizing autonomous driving vehicle
Qi Luo, Sunnyvale, CA (US); Kecheng Xu, Sunnyvale, CA (US); Hongyi Sun, Sunnyvale, CA (US); Wesley Reynolds, Sunnyvale, CA (US); Zejun Lin, New York, NY (US); Wei Wang, Buffalo, NY (US); Yu Cao, Sunnyvale, CA (US); and Weiman Lin, Sunnyvale, CA (US)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US)
Filed by Baidu USA LLC, Sunnyvale, CA (US)
Filed on Jan. 12, 2021, as Appl. No. 17/248,172.
Prior Publication US 2022/0223169 A1, Jul. 14, 2022
Int. Cl. G10L 25/51 (2013.01); G06N 20/00 (2019.01); G05D 1/02 (2020.01); G07C 5/08 (2006.01); G08G 1/01 (2006.01)
CPC G10L 25/51 (2013.01) [G05D 1/0221 (2013.01); G05D 1/0255 (2013.01); G06N 20/00 (2019.01); G07C 5/0808 (2013.01); G08G 1/01 (2013.01); G05D 1/0246 (2013.01); G05D 2201/0213 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method of generating labelled audio data and onboard validation of the labelled audio data utilizing an autonomous driving vehicle (ADV) while the ADV is operating within a driving environment, the method comprising:
recording a sound emitted by an object within the driving environment of the ADV, and converting the recorded sound into audio samples;
labelling the audio samples, and refining the labelled audio samples to produce refined labelled audio data, wherein the refined labelled audio data is utilized to subsequently train a machine learning algorithm to recognize a sound source during autonomous driving of the ADV; and
generating a performance profile of the refined labelled audio data based at least on the audio samples, a position of the object, and a relative direction of the object, wherein the position of the object and the relative direction of the object are determined by a perception system of the ADV, wherein using the audio samples, the position of the object, and the relative direction of the object to generate the performance profile comprises profiling the refined labelled audio data against the audio samples, the position of the object, and the relative direction of the object.