It's worth noting that most autonomous vehicle solutions have dedicated microphones for emergency vehicles and sensors that can detect slip. I had a little dashboard measuring wheel slip at <company>. It mainly ended up mapping train tracks and potholes.
Do they detect the sound of a motorcycle coming up on them? The sound of a car near you with a flat tire which simultaneously tells you that they will likely make sudden movements to pull over to the shoulder and also to be aware of road hazards that can flatten your tires as well? The sound of brakes locking up tires several cars ahead which tells you to slow down even before the brake lights on the car in front of you illuminate? The sound of detritus hitting the underside of your car which tells you there's likely a larger object ahead that you can't see? There are all sorts of sounds that you're constantly hearing ans subconsciously reacting to.
