15. The method of claim 9 , wherein identifying the audible features comprises filtering, by the controller, the two or more audio streams to obtain two or more filtered signals each including one or more of the audible features.
9. A method for obstacle detection in an autonomous vehicle, the method comprising: receiving, by a controller including one or more processing devices, two or more audio streams from two or more microphones mounted to the autonomous vehicle; detecting, by the controller, audio features in the two or more audio streams; detecting, by the controller, a direction to a sound source according to the audio features; identifying, by the controller, a class for the sound source according to the audio features; and determining, by the controller, that the class for the sound source is a vehicle, in response to determining that the class for the sound source is a vehicle, invoking obstacle avoidance with respect to the direction to the sound source; wherein identifying the class for the sound source according to the audio features comprises inputting, by the controller, the audio features into a machine learning model; and wherein the method further comprises outputting, by the machine-learning model, a confidence value indicating a probability that the audio features correspond to a vehicle.