To make it possible that an autonomous travel vehicle (ADV) takes appropriate measures when detecting existence of an emergency vehicle (for example, patrol car, fire truck and ambulance car) on a road.SOLUTION: Features are extracted from voice data and visual data respectively, which have been captured by a sensor attached to ADV, by use of a plurality machine learning models, and then, these extracted features are combined to build a combined feature vector. The combined feature vector is provided to a multi-layer perceptron (MLP) as input to generate a detection result relating to existence of an emergency vehicle in ambient environment. The ADV can execute an appropriate action in compliance with a local traffic rule by use of the detection result.SELECTED DRAWING: Figure 6
MACHINE LEARNING MODEL WITH COMBINATION OF VOICE AND VISUAL DETECTION OF EMERGENCY VEHICLE