Methods and apparatus for determining directionality associated with sounds detected by a vehicle

Patent metadata

Field	Value
Publication number	US-11961536-B2
Application number	US-202117544127-A
Country	US
Kind code	B2
Filing date	Dec 7, 2021
Priority date	Dec 9, 2020
Publication date	Apr 16, 2024
Grant date	Apr 16, 2024

Abstract

According to one aspect, a method for detecting a location from which at least one sound signal originates, includes obtaining, on a microphone array of a vehicle, the at least one sound signal from a sound source, the sound source being external to the vehicle, the vehicle having a plurality of sides. The method also includes identifying, based on at least one measure associated with the at least one sound signal as obtained on the microphone array, at least a first side of the plurality of sides as being closest to the sound source.

First claim

What is claimed is:

1. A method for detecting a location from which at least one sound signal originates, the method comprising:
obtaining, on a microphone array of a vehicle, the at least one sound signal from a sound source, the sound source being external to the vehicle, the vehicle having a plurality of sides; and
identifying, based on at least one measure associated with the at least one sound signal as obtained on the microphone array, at least a first side of the plurality of sides as being closest to the sound source.

2. The method of claim 1 wherein the microphone array includes a first plurality of microphones mounted on a first side of the plurality of sides of the vehicle including at least a first microphone mounted on the first side and a second plurality of microphones mounted on a second side of the plurality of sides of the vehicle including at least a second microphone mounted on the second side, adjacent microphones of the first plurality of microphones including the first microphone being spaced apart such that a body of the vehicle provides a threshold amount of attenuation, and wherein the at least one measure is a signal strength, the first microphone obtaining the at least one sound signal at a first signal strength and the second microphone obtaining the at least one sound signal at a second signal strength.

3. The method of claim 2 wherein the first signal strength is higher than the second signal strength, and wherein the first side is identified as being closest to the sound source, the method further including:
identifying the location from which the at least one sound signal originates as being on the first side.

4. The method of claim 2 wherein the first signal strength is higher than the second signal strength, and wherein identifying the at least first side of the plurality of sides as being closest to the sound source includes identifying the second side as being second closest to the source, the method further including:
identifying the location from which the at least one sound signal originates as being on both the first side and the second side.

5. The method of claim 2 wherein the vehicle is an autonomous vehicle, the method further including:
determining whether to cause the vehicle to take an action in response to the at least one sound signal.

6. The method of claim 2 further including:
processing the at least one sound signal, wherein processing the at least one sound signal includes identifying the at least one signal as being a siren associated with an emergency vehicle.

7. The method of claim 1 wherein the microphone array includes at least a first microphone and a second microphone, the first and second microphones being mounted on a first side of the plurality of sides, and wherein the at least one measure is a signal strength, the first microphone obtaining the at least one sound signal at a first signal strength and the second microphone obtaining the at least one sound signal at a second signal strength.

8. The method of claim 7 wherein the first signal strength is higher than the second signal strength, and wherein the first microphone is close to a second side of the plurality of sides and the second microphone is close to a third side of the plurality of sides, the method further including:
identifying the location from which the at least one sound signal originates as being on the second side.

9. Logic encoded in one or more tangible non-transitory, computer-readable media for execution and when executed operable to:
obtain, on a microphone array of a vehicle, the at least one sound signal from a sound source, the sound source being external to the vehicle, the vehicle having a plurality of sides; and
identify, based on at least one measure associated with the at least one sound signal as obtained on the microphone array, at least a first side of the plurality of sides as being closest to the sound source.

10. The logic of claim 9 wherein the microphone array includes at least a first pair of microphones including a first microphone mounted on a first side of the plurality of sides and at least a second pair of microphones including a second microphone mounted on a second side of the plurality of sides, and wherein the at least one measure is a signal strength, the first microphone obtaining the at least one sound signal at a first signal strength and the second microphone obtaining the at least one sound signal at a second signal strength.

11. The logic of claim 10 wherein the first signal strength is higher than the second signal strength, and wherein the first side is identified as being closest to the sound source, the logic further operable to:
identify the location from which the at least one sound signal originates as being on the first side.

12. The logic of claim 10 wherein the first signal strength is higher than the second signal strength, and wherein the logic operable to identify the at least first side of the plurality of sides as being closest to the sound source is operable to identify the second side as being second closest to the source, the further being operable to:
identify the location from which the at least one sound signal originates as being on both the first side and the second side.

13. The logic of claim 10 wherein the vehicle is an autonomous vehicle, the logic further operable to:
determine whether to cause the vehicle to take an action in response to the at least one sound signal.

14. The logic of claim 10 , wherein the logic is further operable to:
process the at least one sound signal, wherein the logic operable to process the at least one sound signal is operable to identify the at least one signal as being a siren associated with an emergency vehicle.

15. The logic of claim 9 wherein the microphone array includes at least a first microphone and a second microphone, the first and second microphones being mounted on a first side of the plurality of sides, and wherein the at least one measure is a signal strength, the first microphone obtaining the at least one sound signal at a first signal strength and the second microphone obtaining the at least one sound signal at a second signal strength, the first signal strength being higher than the second signal strength, the first microphone being close to a second side of the plurality of sides and the second microphone being close to a third side of the plurality of sides, the logic further operable to:
identify the location from which the at least one sound signal originates as being on the second side.

16. A vehicle comprising:
a chassis;
a plurality of sides, the plurality of sides being supported on the chassis, the plurality of sides including at least a first side and a second side;
a microphone array, the microphone array including a plurality of microphones mounted on the plurality of sides, the microphone array configured to capture at least one signal from a source external to the vehicle, wherein the microphone array includes a first plurality of microphones and a second plurality of microphones, the first plurality of microphones being mounted on the first side and the second plurality of microphones being mounted on the second side;
a processor, the processor carried on the chassis; and
logic, when executed by the processor, operable to process the at least one signal captured by the microphone array to determine at least one direction from which the at least one signal originates, wherein the logic operable to process the at least one signal includes logic operable to
i) determine a first intensity difference based on the

Assignees

• Nuro Inc

Inventors

• Penniman Joseph Daniel
• Kardassakis Peter Jon
• Sarett Matthew Jeremy
• Ganesh Adithya C
• Pu Jia

Classifications

• G10L25/78 Primary

  Detection of presence or absence of voice signals (switching of direction of transmission by voice frequency in two-way loud-speaking telephone systems H04M9/10) · CPC title

• B60R11/0247

  for microphones or earphones · CPC title

• H04R5/027

  Spatial or constructional arrangements of microphones, e.g. in dummy heads · CPC title

• G01S5/18 Primary

  using ultrasonic, sonic or infrasonic waves · CPC title

• G01S2205/01

  specially adapted for specific applications · CPC title