Autonomous vehicle operation using acoustic modalities

A vehicle comprising:

• one or more computer processors;
• and
• one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors, cause the one or more computer processors to:
• receive, using one or more acoustic sensors of a vehicle, acoustic waves from two or more objects, wherein the acoustic waves have a plurality of wavelengths;
• cluster the acoustic waves into two or more acoustic clusters based on the plurality of wavelengths;
• select a particular acoustic cluster of the two or more acoustic clusters based on signal processing of the two or more acoustic clusters;
• associate a particular object of the two or more objects with the particular acoustic cluster;
• generate an acoustic fingerprint of the particular object based on the particular acoustic cluster;
• determine characteristics of the particular object based on the acoustic fingerprint of the particular object;
• and
• operate, using a control circuit of the vehicle, the vehicle to avoid a collision with the particular object based on the characteristics of the particular object.

One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause the one or more computing devices to:

• receive, using one or more acoustic sensors of a vehicle, acoustic waves from two or more objects, wherein the acoustic waves have a plurality of wavelengths;
• cluster the acoustic waves into two or more acoustic clusters based on the plurality of wavelengths;
• select a particular acoustic cluster of the two or more acoustic clusters based on signal processing of the two or more acoustic clusters;
• associate a particular object of the two or more objects with the particular acoustic cluster;
• generate an acoustic fingerprint of the particular object based on the particular acoustic cluster;
• determine characteristics of the particular object based on the acoustic fingerprint of the particular object;
• and
• operate, using a control circuit of the vehicle, the vehicle to avoid a collision with the particular object based on the characteristics of the particular object.