Dogs usually wake up barking because they've usually heard an unfamiliar noise, which made them wake up. It may have startled them, too. Their bark is really a warning to let you know that they think something's wrong.
A dog's hearing range is much wider than ours and they can hear things in the higher frequencies where we aren't even aware there even was a noise.
Then again, it could just be someone slamming a car door a few doors down.
Dogs are protective of you and your family and it's just watching out for you.
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