Abstract: An autonomous vehicle detects an approaching emergency vehicle by performing a plurality of types of analysis of signals output by sensors in the vehicle. Each type of analysis generates a different prediction that indicates a likelihood of a proximity of an emergency vehicle to the autonomous vehicle. The predictions are processed and fused to generate a determination that indicates whether an emergency vehicle is proximate to the autonomous vehicle. In response to the determination indicating the emergency vehicle is proximate, the autonomous vehicle performs an action.

Abstract: The disclosed technology enables an in-vehicle control computer located in a vehicle to perform localization techniques to control a driving related operation of the vehicle. An example method to control a vehicle includes determining, by a computer located in a vehicle, a first characteristic of a first object from an image obtained by a camera located on the vehicle while the vehicle is operated on a road; determining whether the first characteristic of the first object matches a second characteristic of a second object obtained from a high-definition map stored in the computer; and sending, in response to determining that the first characteristic of the first object does not match the second characteristic of the second object, instructions that cause the vehicle to steer along a first trajectory to a side of the road and to apply brakes.

Abstract: An autonomous vehicle includes audio sensors configured to detect audio in an environment around the autonomous vehicle and to generate audio signals based on the detected audio. A processor in the autonomous vehicle receives the audio signals and compares a time domain or frequency domain representation of the audio signals to a corresponding representation of a known emergency vehicle siren. The comparison causes the processor to output a first determination indicating whether the audio signals are indicative of an emergency vehicle siren. The processor also applies a trained neural network to the audio signals that causes the processor to output a second determination indicating whether the audio signals are indicative of the emergency vehicle siren. If the first determination or the second determination indicates presence of an emergency vehicle siren in the environment around the autonomous vehicle, the autonomous vehicle is caused to perform an action.