The Audio module detect the siren sound coming from the active emergency vehicle. It detects and output siren on/off status, moving status and the relative position of the siren. When active emergency vehicles detected, you can also see active alerts on Dreamview.
- Audio signal data (cyber channel
/apollo/sensor/microphone)
- Audio detection result, including the siren active/inactive status, moving status(approaching/departing/stationary), and the positions (cyber channel
apollo/audio/audio_detection).