Methods and systems for control of vehicles based on auditory signals are described. In an example, a computing device may be configured to control a vehicle or may be in communication with the vehicle. The computing device may be configured to receive audio information relating to an audible crosswalk signal for an intersection. The computing device also may be configured to determine a likelihood associated with a presence of a pedestrian in a crosswalk at the intersection based on the audio information. The computing device further may be configured to determine a control strategy associated with a driving behavior of the vehicle from among multiple control strategies, based on the likelihood, and may be configured to provide instructions to control the vehicle based on the determined control strategy.