US 12,007,474 B2
Autonomous vehicle operation using acoustic modalities
Aravindkumar Vijayalingam, Singapore (SG); and Abhimanyu Singh, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on May 28, 2020, as Appl. No. 16/885,385.
Claims priority of provisional application 62/853,345, filed on May 28, 2019.
Prior Publication US 2020/0379108 A1, Dec. 3, 2020
Int. Cl. G01S 15/931 (2020.01); G01S 3/80 (2006.01); G01S 5/02 (2010.01); G05D 1/00 (2006.01); G06F 16/60 (2019.01); G06F 16/65 (2019.01); G06F 18/23 (2023.01); G06V 10/80 (2022.01); G06V 20/58 (2022.01)
CPC G01S 15/931 (2013.01) [G01S 3/80 (2013.01); G01S 5/0252 (2013.01); G01S 5/02528 (2020.05); G05D 1/0255 (2013.01); G06F 16/60 (2019.01); G06F 16/65 (2019.01); G06F 18/23 (2023.01); G06V 10/806 (2022.01); G06V 20/58 (2022.01); H04R 2499/13 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, using one or more acoustic sensors of a vehicle, acoustic waves from two or more objects, wherein the acoustic waves have a plurality of wavelengths;
clustering, using one or more processors of the vehicle, the acoustic waves into two or more acoustic clusters based on the plurality of wavelengths;
selecting, using the one or more processors, a particular acoustic cluster of the two or more acoustic clusters based on signal processing of the two or more acoustic clusters;
associating, using the one or more processors, a particular object of the two or more objects with the particular acoustic cluster;
generating, using the one or more processors, an acoustic fingerprint of the particular object based on the particular acoustic cluster;
determining, using the one or more processors, characteristics of the particular object based on the acoustic fingerprint of the particular object; and
operating, using a control circuit of the vehicle, the vehicle to avoid a collision with the particular object based on the characteristics of the particular object.