US 12,223,831 B2
Detecting and responding to sirens
David Harrison Silver, Millbrae, CA (US); Angus Leigh, Mountain View, CA (US); Benjamin Ingram, Santa Clara, CA (US); Jennifer Taylor, Palo Alto, CA (US); and Vaibhav Nangia, East Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 14, 2023, as Appl. No. 18/508,354.
Application 18/508,354 is a continuation of application No. 18/118,341, filed on Mar. 7, 2023, granted, now 11,854,390.
Application 18/118,341 is a continuation of application No. 17/476,830, filed on Sep. 16, 2021, granted, now 11,636,761, issued on Apr. 25, 2023.
Application 17/476,830 is a continuation of application No. 16/843,928, filed on Apr. 9, 2020, granted, now 11,164,454, issued on Nov. 2, 2021.
Application 16/843,928 is a continuation of application No. 16/392,745, filed on Apr. 24, 2019, granted, now 10,650,677, issued on May 12, 2020.
Application 16/392,745 is a continuation of application No. 15/689,336, filed on Aug. 29, 2017, granted, now 10,319,228, issued on Jun. 11, 2019.
Claims priority of provisional application 62/525,423, filed on Jun. 27, 2017.
Prior Publication US 2024/0087451 A1, Mar. 14, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/0965 (2006.01); G06F 16/68 (2019.01); G06F 16/683 (2019.01); G08G 1/16 (2006.01); H04R 3/00 (2006.01); G08G 1/0962 (2006.01)
CPC G08G 1/0965 (2013.01) [G06F 16/683 (2019.01); G06F 16/686 (2019.01); G08G 1/166 (2013.01); H04R 3/005 (2013.01); G08G 1/09623 (2013.01); G08G 1/09626 (2013.01); H04R 2499/13 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a plurality of time-synchronized microphones configured to detect a siren noise of an emergency vehicle; and
one or more processors operably coupled with the plurality of time-synchronized microphones, the one or more processors configured to use output from the plurality of time- synchronized microphones to perform a comparison of an estimated bearing of the emergency vehicle to map information identifying locations of one or more road segments, and control the vehicle in an autonomous driving mode to perform a maneuver in response to a result of the comparison.