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The latest developments in automobile design have allowed them to be equipped with various sensing devices. Multiple sensors such as cameras and radar systems can be simultaneously used for active safety systems in order to overcome blind spots of individual sensors. This paper proposes a novel sensing technique for catching up and tracking an approaching vehicle relying on an acoustic cue. First, it is necessary to extract a robust spatial feature from noisy acoustical observations. In this paper, the spatio-temporal gradient method is employed for the feature extraction. Then, the spatial feature is filtered out through sequential state estimation. A particle filter is employed to cope with a highly non-linear problem. Feasibility of the proposed method has been confirmed with real acoustical observations, which are obtained by microphones outside a cruising vehicle.

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We propose a new family of test signals for acoustic measurements such as impulse response, nonlinearity, and the effects of background noise. The proposed family complements difficulties in existing families, the Swept-Sine (SS), pseudo-random noise such as the maximum length sequence (MLS). The proposed family uses the frequency domain variant of the Velvet noise (FVN) as its building block. An FVN is an impulse response of an all-pass filter and yields the unit impulse when convolved with the time-reversed version of itself. In this respect, FVN is a member of the time-stretched pulse (TSP) in the broadest sense. The high degree of freedom in designing an FVN opens a vast range of applications in acoustic measurement. We introduce the following applications and their specific procedures, among other possibilities. They are as follows. a) Spectrum shaping adaptive to background noise. b) Simultaneous measurement of impulse responses of multiple acoustic paths. d) Simultaneous measurement of linear and nonlinear components of an acoustic path. e) Automatic procedure for time axis alignment of the source and the receiver when they are using independent clocks in acoustic impulse response measurement. We implemented a reference measurement tool equipped with all these procedures. The MATLAB source code and related materials are open-sourced and placed in a GitHub repository.

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