US 11,854,390 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 Mar. 7, 2023, as Appl. No. 18/118,341.
Application 18/118,341 is a continuation of application No. 17/476,830, filed on Sep. 16, 2021, granted, now 11,636,761.
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 2023/0282106 A1, Sep. 7, 2023
Int. Cl. G08G 1/16 (2006.01); G06F 16/683 (2019.01); G06F 16/68 (2019.01); G08G 1/0965 (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)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle comprising:
a plurality of time-synchronized microphones;
a classifier configured to:
distinguish siren noise emanated by an emergency vehicle from sounds other than the siren noise detected by the plurality of time-synchronized microphones based on amplitude and timing of the detected sounds, and
estimate characteristics of the emergency vehicle; and
one or more processors operatively coupled to the plurality of time-synchronized microphones and the classifier, the one or more processors being configured to control the autonomous vehicle based on the estimated characteristics of the emergency vehicle.