This application discloses sensors to capture audio measurement in an environment around a vehicle and a computing system to classify audio measurements captured with one or more sensors mounted to a vehicle, wherein the classified audio measurements identify to a type of object in an environment around the vehicle, and fuse the classified audio measurements with measurements captured by at least one different type of sensor to detect the object in the environment around the vehicle, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the detected object. The computing system can also identify noise in the captured audio measurements originating from the vehicle and utilize the identified noise to detect faults in the vehicle, to perform proximity detection around the vehicle, or to perform noise cancelation operations in the vehicle.