Identifying The Position Of A Horn Honk Or Other Acoustical Information Using Multiple Autonomous Vehicles

The technology relates to determining a source of a horn honk or other noise in an environment around one or more self-driving vehicles. Aspects of the technology leverage real-time information from a group of self-driving vehicles regarding received acoustical information. The location and pose of each self-driving vehicle in the group, along with the precise arrangement of acoustical sensors on each vehicle, can be used to triangulate or otherwise identify the actual location in the environment for the origin of the horn honk or other sound. Other sensor information, map data, and additional data can be used narrow down or refine the location of a likely noise source. Once the location and source of the noise is known, each self-driving vehicle can use that information to modify current driving operations and/or use it as part of a reinforcement learning approach for future driving situations.