US 11,851,049 B1
System to detect impacts
Dilip Bethanabhotla, Freemont, CA (US); Michael Carsten Bosse, Cupertino, CA (US); Venkata Subrahmanyam Chandra Sekhar Chebiyyam, San Francisco, CA (US); Nam Gook Cho, Cupertino, CA (US); Jonathan Tyler Dowdall, San Francisco, CA (US); Amanda Brown Prescott, Half Moon Bay, CA (US); Subasingha Shaminda Subasingha, San Ramon, CA (US); and Sarah Tariq, Palo Alto, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 28, 2020, as Appl. No. 16/805,250.
Int. Cl. B60W 30/09 (2012.01); H04R 1/08 (2006.01); G10L 25/51 (2013.01); G05D 1/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 60/0015 (2020.02); G05D 1/0088 (2013.01); G10L 25/51 (2013.01); H04R 1/08 (2013.01); B60W 2420/54 (2013.01); B60W 2520/10 (2013.01); B60W 2554/4042 (2020.02); B60W 2756/10 (2020.02); H04R 2499/13 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle comprising:
one or more processors; and
one or more non-transitory computer readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the autonomous vehicle to perform operations comprising:
receiving perception data from a sensor;
receiving first audio data from a first microphone positioned along at least one exterior surface of the autonomous vehicle;
determining, based at least in part on the perception data, that an object is likely to impact the autonomous vehicle, wherein the impact with the autonomous vehicle is less than a threshold that would register as an impact by the first microphone;
determining a period of time comprising a continuous window from before a point of time during when the object is likely to impact the autonomous vehicle to after the point of time during when the object is likely to impact the autonomous vehicle;
determining, based at least in part on a portion of the first audio data, that the impact with the object occurred during the period of time; and
causing the autonomous vehicle to perform an action based at least in part on the impact with the object.