Acoustic notifications

One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• receiving sensor data from a sensor associated with a vehicle;
• determining, based at least in part on the sensor data, a first location associated with an object and a second location associated with the vehicle;
• determining, based at least in part on the first location and the second location, an instruction for emitting beams of acoustic energy via an acoustic array associated with the vehicle;
• and
• causing the acoustic array to emit a first beam of acoustic energy in a first direction at a first time and a second beam of acoustic energy at a second time after the first time in a second direction that differs from the first direction by an angular offset based at least in part on a pose of the object.

A method comprising:

• receiving sensor data from a sensor associated with a vehicle;
• determining, based at least in part on the sensor data, a first location associated with an object and a second location associated with the vehicle;
• determining, based at least in part on the first location and the second location, an instruction for emitting beams of acoustic energy via an acoustic array associated with the vehicle;
• and
• causing the acoustic array to emit a first beam of acoustic energy in a first direction at a first time and a second beam of acoustic energy at a second time after the first time in a second direction that differs from the first direction by an offset based at least in part on a dimension of the object.