Angus D Leigh

US Patent:

20190355251, Nov 21, 2019

Filed:

Apr 24, 2019

Appl. No.:

16/392745

Inventors:

- Mountain View CA, US
Angus Leigh - Mountain View CA, US
Benjamin Ingram - Santa Clara CA, US
Jennifer Taylor - Palo Alto CA, US
Vaibhav Nangia - East Palo Alto CA, US

International Classification:

G08G 1/0965
H04R 3/00
G08G 1/16
G06F 16/683
G06F 16/68

Abstract:

The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.

US Patent:

20180374347, Dec 27, 2018

Filed:

Aug 29, 2017

Appl. No.:

15/689336

Inventors:

- Mountain View CA, US
Angus Leigh - Mountain View CA, US
Benjamin Ingram - Santa Clara CA, US
Jennifer Taylor - Palo Alto CA, US
Vaibhav Nangia - East Palo Alto CA, US

International Classification:

G08G 1/0965
H04R 3/00
G06F 17/30
G08G 1/16

Abstract:

The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.