ENVIRONMENTAL MODEL BASED ON AUDIO

A method for providing an audio-based model of an environment of a vehicle, the method may include obtaining, during a driving session of a vehicle, sensed information about the environment of the vehicle; wherein the sensed information may include sensed audio information. The sensed information may also include at least one type of non-audio sensed information; and generating an audio-based model of the environment based, at least in part, on the sensed audio information.