The present disclosure provides systems and methods for determining a noise level associated with an autonomous vehicle. The autonomous vehicle can include a passenger compartment configured to house one or more passengers. A method can include positioning one or more microphones at one or more locations in the passenger compartment, collecting first data indicative of a first sound level by the one or more microphones with the autonomous vehicle operating at a first operating condition, implementing an operating condition change for the autonomous vehicle from the first operating condition to a second operating condition, collecting second data indicative of a second sound level by the one or more microphones, and determining a noise level associated with the autonomous vehicle based at least in part on the first data and the second data.