公开(公告)号：US20220223037A1

公开(公告)日：2022-07-14

申请号：US17149659

申请日：2021-01-14

申请人： Baidu USA LLC

发明人： Kecheng XU ,  Hongyi SUN ,  Qi LUO ,  Wei WANG ,  Zejun LIN ,  Wesley REYNOLDS ,  Feng LIU ,  Jiangtao HU ,  Jinghao MIAO

IPC分类号： G08G1/0967 ,  G08G1/01 ,  G08G1/04 ,  G08G1/133 ,  G08G1/0965 ,  G06N3/04

摘要： According to various embodiments, systems, methods, and mediums for operating an autonomous driving vehicles (ADV) are described. The embodiments use a number of machine learning models to extract features individually from audio data and visual data captured by sensors mounted on the ADV, and then to fuse these extracted features to create a concatenated feature vectors. The concatenated feature vector is provided to a multiplayer perceptron (MLP) as input to generate a detection result related to the presence of an emergency vehicle in the surrounding environment. The detection result can be used by the ADV to take appropriate actions to comply with the local traffic rules.

公开(公告)号：US20220219736A1

公开(公告)日：2022-07-14

申请号：US17149638

申请日：2021-01-14

申请人： Baidu USA LLC

发明人： Kecheng XU ,  Hongyi SUN ,  Qi LUO ,  Wei WANG ,  Zejun LIN ,  Wesley REYNOLDS ,  Feng LIU ,  Jiangtao HU ,  Jinghao MIAO

IPC分类号： B60W60/00 ,  H04R1/08 ,  G10L25/51 ,  G10L25/30 ,  G06K9/62 ,  G06K9/00 ,  G06K9/20 ,  H04R1/40 ,  H04R3/00 ,  H04N5/247 ,  B60W10/20 ,  B60W30/18 ,  B60W10/18 ,  G06N3/04 ,  G05B13/02

摘要： In one embodiment, an emergency vehicle detection system can be provided in the ADV travelling on a road to detect the presence of an emergency vehicle in a surrounding environment of the ADV using both audio data and visual data. The emergency vehicle detection system can use a trained neutral network to independently generate a detection result from the audio data, and use another trained network to independently generate another detection result from the visual data. The emergency vehicle detection system can fuse the two detection results to determine the position and moving direction of the emergency vehicle. The ADV can take appropriate actions in response to the position and moving direction of the emergency vehicle.