A method, system, apparatus, and architecture are provided for generating a sound-enhanced sensing envelope. A plurality of sensors and one or more passive sound sensors of a vehicle are used to collect and process sensor data signals characterizing an exterior environment of the vehicle, thereby generating a sensing envelope around the vehicle using direct sensing data signals and a sound-enhanced sensing envelope around the vehicle using indirect sensing data signals. The sound-enhanced sensing envelope is used to evaluate advanced driver assistance system commands for the vehicle with respect to safety-related events identified by the indirect sensing data signals.