In one embodiment, an emergency vehicle detection system is provided to an ADV driving on a road and detects an existence of an emergency vehicle in a surrounding environment of the ADV by using audio and visual data. The emergency vehicle detection system independently generates detection result from the audio data by using a train-finished neural network and independently generates different detection result from the visual data by using a different train-finished neural network. The emergency vehicle detection system determines location and moving direction of the emergency vehicle by fusing the two detection results. The ADV takes an appropriate measure in response to the location and the moving direction of the emergency vehicle. The emergency vehicle detection system comprises the following steps of: receiving an audio signal stream and an image frame sequence; determining a first probability that a part of the audio signal stream comes from a siren sound; determining a second probability that the image frame sequence comes from an emergency vehicle; and determining that the emergency vehicle is in the surrounding environment based on the first probability and the second probability.

    일실시예에서, 긴급 차량 검출 시스템은 도로상에서 주행하는 ADV에 제공되어 오디오 및 시각적 데이터를 사용하여 ADV의 주변 환경에서 긴급 차량의 존재를 검출할 수 있다. 긴급 차량 검출 시스템은 훈련이 완료된 신경망을 사용하여 오디오 데이터로부터 검출 결과를 독립적으로 생성하고 다른 훈련 완료 네트워크를 사용하여 시각적 데이터로부터 다른 검출 결과를 독립적으로 생성할 수 있다. 긴급 차량 검출 시스템은 두 검출 결과를 융합하여 긴급 차량의 위치 및 이동 방향을 결정할 수 있다. ADV는 긴급 차량의 위치 및 이동 방향에 응답하여 적절한 조치를 취할 수 있다.


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    Titel :

    EMERGENCY VEHICLE AUDIO AND VISUAL DETECTION POST FUSION


    Weitere Titelangaben:

    긴급 차량의 오디오 및 시각적 검출의 사후 융합


    Beteiligte:
    XU KECHENG (Autor:in) / SUN HONGYI (Autor:in) / LUO QI (Autor:in) / WANG WEI (Autor:in) / LIN ZEJUN (Autor:in) / REYNOLDS WESLEY (Autor:in) / LIU FENG (Autor:in) / HU JIANGTAO (Autor:in) / MIAO JINGHAO (Autor:in)

    Erscheinungsdatum :

    2022-02-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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