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.
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. 11. The method of claim 9 , wherein detecting the direction to the sound source according to the audio features comprises evaluating, by the controller, a time difference between the audio features.