Patent Application
20230306949
The present invention relates to an active noise reduction system, an active noise reduction method, and a non-transitory computer-readable storage medium that reduce a noise by causing a canceling sound in an opposite phase to the noise to interfere with the noise.
Conventionally, an active noise reduction system reduces a noise by causing a canceling sound in an opposite phase to the noise to interfere with the noise.
For example, JPH7-28474A discloses an active noise reduction system (noise canceling system) including a speaker that outputs a canceling sound, an acceleration sensor that generates a signal corresponding to a noise, an error microphone that detects a synthesized sound of the noise and the canceling sound and outputs a signal of the synthesized sound, and an adaptive signal processing unit that controls the speaker based on the signals from the acceleration sensor and the error microphone.
In the above conventional technique, the acceleration sensor that generates the signal corresponding to the noise is, in general, a relatively expensive component. Accordingly, if the signal corresponding to the noise is generated by the acceleration sensor, the active noise reduction system may become expensive.
Further, in the above conventional technique, an estimation value (see “a filter FXF”) of acoustic transmission characteristics from the speaker to the error microphone is used as a control parameter. However, the acoustic transmission characteristics may change according to various factors (for example, aging of a vehicle body, the change in an opening/closing state of a window, and the change in an inclination of a seat). If the acoustic transmission characteristics change in this way, an error will be generated between the acoustic transmission characteristics and an estimation value thereof, and thus control performance (that is, noise reduction performance) of the active noise reduction system may deteriorate or an abnormal noise may be generated.
In view of the above background, an object of the present invention is to provide an inexpensive active noise reduction system that can maintain control performance even if acoustic transmission characteristics change.
To achieve such an object, one aspect of the present invention provides an active noise reduction system (11), comprising: a canceling sound output device (12A-12D) configured to output a canceling sound for canceling a noise; a plurality of noise microphones (13A-13E) configured to generate a plurality of noise signals based on the noise; and a controller (16) configured to control the canceling sound output device based on the plurality of noise signals, wherein the controller is configured to: acquire the plurality of noise signals output from the plurality of noise microphones; select a plurality of reference signals and an error signal from among the plurality of noise signals, the plurality of reference signals corresponding to the noise, the error signal corresponding to an error between the noise and the canceling sound; generate a control signal of the canceling sound output device from the plurality of reference signals by using a plurality of control filters (W); and adaptively update the plurality of control filters by using a plurality of acoustic transmission filters (C{circumflex over ( )}), and the plurality of acoustic transmission filters includes: at least one adaptive update filter configured to be adaptively updated (C{circumflex over ( )}B); and at least one non-adaptive update filter (C{circumflex over ( )}A) configured to be updated based on an update value of the adaptive update filter.
According to this aspect, both the reference signals and the error signal can be generated by using the plurality of noise microphones. Accordingly, it is not necessary to use an expensive sensor such as an acceleration sensor to generate the reference signals, so that an inexpensive active noise reduction system can be provided. Further, by updating the plurality of acoustic transmission filters, it is possible to cause the plurality of acoustic transmission filters to follow the change in acoustic transmission characteristics. Accordingly, even if the acoustic transmission characteristics change, control performance of the active noise reduction system can be maintained, so that the noise can be effectively reduced. Furthermore, the non-adaptive update filter is updated based on the update value of the adaptive update filter. Accordingly, the calculation amount (calculation load) of the controller can be reduced as compared with a case where all the acoustic transmission filters are adaptively updated. Accordingly, it is possible to form the controller by a relatively inexpensive processor.
In the above aspect, preferably, the at least one adaptive update filter comprises a plurality of adaptive update filters, and the controller is configured to: calculate estimation values of the plurality of adaptive update filters by applying a prescribed averaging process to update values of the plurality of adaptive update filters; and update the non-adaptive update filter based on the estimation values of the plurality of adaptive update filters.
According to this aspect, even if the update values of the plurality of adaptive update filters vary, the estimation values of the plurality of adaptive update filters can be calculated accurately. Accordingly, the control performance of the active noise reduction system can be improved.
In the above aspect, preferably, the at least one adaptive update filter comprises a plurality of adaptive update filters, and the controller is configured to adaptively update one of the plurality of adaptive update filters based on an update value of another of the plurality of adaptive update filters.
According to this aspect, the variation in the update values of the plurality of adaptive update filters can be suppressed. Accordingly, the control performance of the active noise reduction system can be improved.
In the above aspect, preferably, the controller is configured to: classify the plurality of control filters and the adaptive update filter into a plurality of filter groups; and adaptively update the plurality of control filters and the adaptive update filter for each of the plurality of filter groups in a prescribed update order.
According to this aspect, the update frequency of the control filters and the adaptive update filter can be reduced as compared with a case where all the control filters and the adaptive update filter are adaptively updated each time. Accordingly, the calculation amount of the controller can be further reduced.
In the above aspect, preferably, in a case where a variation of the adaptive update filter in one adaptive update thereof exceeds a prescribed threshold, the controller adaptively updates the adaptive update filter consecutively for a prescribed period regardless of the update order.
According to this aspect, it is possible to suppress the deterioration of the ability to follow the change in the acoustic transmission characteristics due to the decrease in the update frequency of the adaptive update filter.
In the above aspect, preferably, the controller is configured to: suspend adaptive updates of the plurality of control filters and the adaptive update filter after adaptively updating the plurality of control filters and the adaptive update filter for a prescribed period; determine whether a control effect of the noise is reduced based on the error signal while suspending the adaptive updates of the plurality of control filters and the adaptive update filter; and resume the adaptive updates of the plurality of control filters and the adaptive update filter upon determining that the control effect of the noise is reduced.
According to this aspect, it is possible to further reduce the calculation amount of the controller while suppressing the deterioration of the ability to follow the change in the acoustic transmission characteristics.
In the above aspect, preferably, the controller is configured to acquire buffer data in which the noise signals are stored in a time series, and process the noise signals for each of the buffer data.
According to this aspect, it is possible to further reduce the calculation amount of a controller (for example, a controller applied to a smart device such as a smartphone) that uses a method of processing buffer data.
To achieve the abovementioned object, one aspect of the present invention provides an active noise reduction method comprising: acquiring a plurality of noise signals output from a plurality of noise microphones (13A-13E); selecting a plurality of reference signals and an error signal from among the plurality of noise signals, the plurality of reference signals corresponding to a noise, the error signal corresponding to an error between the noise and a canceling sound; generating a control signal of the canceling sound from the plurality of reference signals by using a plurality of control filters (W); and adaptively updating the plurality of control filters by using a plurality of acoustic transmission filters (C{circumflex over ( )}) including: at least one adaptive update filter (C{circumflex over ( )}B) configured to be adaptively updated; and at least one non-adaptive update filter (C{circumflex over ( )}A) configured to be updated based on an update value of the adaptive update filter.
To achieve the abovementioned object, one aspect of the present invention provides a non-transitory computer-readable storage medium (16b) comprising an active noise reduction program, wherein the active noise reduction program, when executed by a processor (16a), executes an active noise reduction method comprising: acquiring a plurality of noise signals output from a plurality of noise microphones (13A-13E); selecting a plurality of reference signals and an error signal from among the plurality of noise signals, the plurality of reference signals corresponding to a noise, the error signal corresponding to an error between the noise and a canceling sound; generating a control signal of the canceling sound from the plurality of reference signals by using a plurality of control filters (W); and adaptively updating the plurality of control filters by using a plurality of acoustic transmission filters (C{circumflex over ( )}) including: at least one adaptive update filter (C{circumflex over ( )}B) configured to be adaptively updated; and at least one non-adaptive update filter (C{circumflex over ( )}A) configured to be updated based on an update value of the adaptive update filter.
According to this aspect, both the reference signals and the error signal can be generated by using the plurality of noise microphones. Accordingly, it is not necessary to use an expensive sensor such as an acceleration sensor to generate the reference signals, so that an inexpensive active noise reduction system can be provided. Further, by updating the plurality of acoustic transmission filters, it is possible to cause the plurality of acoustic transmission filters to follow the change in acoustic transmission characteristics. Accordingly, even if the acoustic transmission characteristics change, control performance can be maintained, so that the noise can be effectively reduced. Furthermore, the non-adaptive update filter is updated based on the update value of the adaptive update filter. Accordingly, the calculation amount (calculation load) of the processor can be reduced as compared with a case where all the acoustic transmission filters are adaptively updated. Accordingly, it is possible to form the controller by a relatively inexpensive processor.
Thus, according to the above aspects, it is possible to provide an inexpensive active noise reduction system that can maintain control performance even if acoustic transmission characteristics change.
In the following, embodiments of the present invention will be described with reference to the drawings. In this specification, “{circumflex over ( )}” (circumflexes) shown together with symbols each indicate an identification value or an estimation value. “{circumflex over ( )}” are shown above the symbols in the drawings and formulas, but are shown subsequently to the symbols in the text of the description.
First, the first embodiment of the present invention will be described with reference to
For example, the noise d to be reduced by the noise reduction system 11 is a road noise caused by the vibrations of wheels due to the force from a road surface. The noise d to be reduced by the noise reduction system 11 may be a noise other than the road noise (for example, a driving noise caused by the vibrations of a driving source 3 such as an internal combustion engine or an electric motor).
With reference to
The speakers 12A-12D of the noise reduction system 11 are arranged at positions corresponding to a plurality of occupant seats 6A-6D provided in the vehicle 1. For example, the speakers 12A, 12B are arranged in doors on both lateral sides of the front occupant seats 6A, 6B, and the speakers 12C, 12D are arranged behind the rear occupant seats 6C, 6D.
The noise microphones 13A-13E of the noise reduction system 11 are arranged at any positions of the vehicle 1. For example, the noise microphones 13A-13D are arranged at the positions corresponding to the occupant seats 6A-6D. More specifically, the noise microphones 13A-13D are arranged in headrests 7 of the occupant seats 6A-6D. For example, the noise microphone 13E is arranged near a noise source.
With reference to
The controller 16 includes, as functional components, a signal selection unit 21, n (n≥2) pieces of howl removal units 22, n pieces of control signal output units 23, an adder 25, and an estimation value calculation unit 26.
The signal selection unit 21 of the controller 16 is connected to the noise microphones 13A-13E and acquires the noise signals x output from the noise microphones 13A-13E. The signal selection unit 21 selects n pieces of reference signals r′ (r1′, . . . , rn′) and an error signal e from among the noise signals x. The n pieces reference signals r′ correspond to the noise d itself. The error signal e corresponds to an error between the noise d and the canceling sound y. The signal selection unit 21 outputs the selected reference signals r′ to the howl removal units 22 and outputs the selected error signal e to the control signal output units 23.
The signal selection unit 21 may select the error signal e and the reference signals r′ from the noise signals x based on the positions of the speakers 12A-12D to be controlled. For example, in controlling the speaker 12A corresponding to the occupant seat 6A, the signal selection unit 21 may select the noise signal x output from the noise microphone 13A corresponding to the occupant seat 6A as the error signal e, and select the noise signals x output from the noise microphones 13B-13E other than the noise microphone 13A as the reference signals r′. On the other hand, in controlling the speaker 12B corresponding to the occupant seat 6B, the signal selection unit 21 may select the noise signal x output from the noise microphone 13B corresponding to the occupant seat 6B as the error signal e, and select the noise signals x output from the noise microphones 13A, 13C-13E other than the noise microphone 13B as the reference signals r′.
As described above, the noise signal x output from the noise microphone 13A is selected as the error signal e in the control of the speaker 12A, and is selected as the reference signal r′ in the control of the speaker 12B. The control of the speaker 12A and the control of the speaker 12B are executed simultaneously. Accordingly, the noise signal x output from the noise microphone 13A is used simultaneously as the error signal e and the reference signal r′ (similar logic can be applied to the noise signals x output from the noise microphones 13B-13E).
Hereinafter, the noise microphones 13A-13E that generate the reference signals r′ will be referred to as “the reference microphones 13r”. The noise microphones 13A-13E that generate the error signal e will be referred to as “the error microphones 13e”. As is clear from the above description, the noise microphones 13A-13E are used simultaneously as the reference microphone 13r and the error microphone 13e. A symbol C in
Each howl removal unit 22 of the controller 16 includes a howl filter unit 31, a polarity reversing unit 32, and an adder 33.
The howl filter unit 31 consists of a howl filter C{circumflex over ( )}H (C{circumflex over ( )}1H, . . . , C{circumflex over ( )}nH). The howl filter C{circumflex over ( )}H is a filter corresponding to an estimation value of the transfer characteristics CH of the canceling sound y from each speaker 12A-12D to the reference microphone 13r. A finite impulse response filter (FIR filter) or a single-frequency adaptive notch filter (SAN filter) may be used for the howl filter C{circumflex over ( )}H.
The howl filter unit 31 generates a howl signal yh (y1h, . . . , ynh) by filtering a control signal u (that will be described later) output from the adder 25. The howl signal yh is a signal corresponding to a component of the canceling sound y (more specifically, a component of the canceling sound y that is transmitted from each speaker 12A-12D to the reference microphones 13r). The howl filter unit 31 outputs the generated howl signal yh to the polarity reversing unit 32.
The polarity reversing unit 32 reverses the polarity of the howl signal yh output from the howl filter unit 31. The polarity reversing unit 32 outputs the howl signal yh with a reversed polarity to the adder 33.
The adder 33 generates a correction reference signal r (r1, . . . , rn) by adding together the reference signal r′ output from the signal selection unit 21 and the howl signal yh output from the polarity reversing unit 32. The correction reference signal r is represented by the following formula (1). Incidentally, “*” in the following formula (1) indicates a convolution operation.
r=r′−yh=r′−u*Ĉ
H (1)
As is clear from the above formula (1), the correction reference signal r is a signal acquired by removing the component of the canceling sound y from the reference signal r′. The adder 33 outputs the generated correction reference signal r to the corresponding control signal output unit 23.
Each control signal output unit 23 of the controller 16 corresponds to the correction reference signal r (r1, . . . , rn). The control signal output unit 23 includes a single control signal output unit 23A (a control signal output unit with fixed “C{circumflex over ( )}”) and K (K=n−1) pieces of control signal output units 23B (control signal output units that can learn “C{circumflex over ( )}”). In another embodiment, the control signal output unit 23 may include a plurality of control signal output units 23A.
The control signal output unit 23A includes a control filter unit 36, a secondary path filter unit 37, and a control update unit 38.
The control filter unit 36 consists of a control filter W1. An FIR filter or a SAN filter may be used for the control filter W1. The control filter unit 36 generates a control signal component u1′ by filtering the correction reference signal r1. The control filter unit 36 outputs the generated control signal component u1′ to the adder 25.
The secondary path filter unit 37 consists of a secondary path filter C{circumflex over ( )}A (an example of an acoustic transmission filter and a non-adaptive update filter). The secondary path filter C{circumflex over ( )}A is a filter corresponding to an estimation value of the transfer characteristics C of the canceling sound y from each speaker 12A-12D to the error microphone 13e. An FIR filter is used for the secondary path filter C{circumflex over ( )}A. In another embodiment, a SAN filter may be used for the secondary path filter C{circumflex over ( )}A. The secondary path filter unit 37 filters the correction reference signal r1, and outputs the filtered correction reference signal r1 to the control update unit 38.
The control update unit 38 adaptively updates the control filter W1 by using an adaptive algorithm such as a Least Mean Square algorithm (LMS algorithm). More specifically, the control update unit 38 updates the control filter W1 such that the error signal e output from the signal selection unit 21 is minimized.
Each control signal output unit 23B includes a control signal generation unit 41, a first canceling estimation signal generation unit 42, a noise estimation signal generation unit 43, a second canceling estimation signal generation unit 44, a control filter update unit 45, and a virtual error signal generation unit 46.
The control signal generation unit 41 consists of a control filter W (W2, . . . , Wn). An FIR filter or an SAN filter may be used for the control filter W. The control signal generation unit 41 generates a control signal component u′ (u2′, . . . , un′) by filtering the correction reference signal r (r2, . . . , rn). The control signal generation unit 41 outputs the generated control signal component u′ to the adder 25.
The first canceling estimation signal generation unit 42 includes a secondary path filter unit 51 and a secondary path update unit 52.
The secondary path filter unit 51 consists of a secondary path filter C{circumflex over ( )}B (C{circumflex over ( )}B1, . . . , C{circumflex over ( )}BK: an example of an acoustic transmission filter and an adaptive update filter). The secondary path filter C{circumflex over ( )}B is a filter corresponding to an estimation value of the transfer characteristics C of the canceling sound y from the speakers 12A-12D to the error microphone 13e. An FIR filter is used for the secondary path filter C{circumflex over ( )}B. However, in another embodiment, a SAN filter may be used for the secondary path filter C{circumflex over ( )}B.
The secondary path filter unit 51 generates a canceling estimation signal y{circumflex over ( )}1 by filtering the control signal component u′. The secondary path filter unit 51 outputs the generated canceling estimation signal y{circumflex over ( )}1 to the virtual error signal generation unit 46.
The secondary path update unit 52 adaptively updates the coefficients of the secondary path filter C{circumflex over ( )}B by using an adaptive algorithm such as the LMS algorithm. More specifically, the secondary path update unit 52 updates the coefficients of the secondary path filter C{circumflex over ( )}B such that a virtual error signal e1 (that will be described later) output from the virtual error signal generation unit 46 is minimized.
The noise estimation signal generation unit 43 includes a primary path filter unit 54 and a primary path update unit 55.
The primary path filter unit 54 consists of a primary path filter H{circumflex over ( )} (H{circumflex over ( )}1, . . . , H{circumflex over ( )}K). The primary path filter H{circumflex over ( )} is a filter corresponding to an estimation value of the transfer characteristics of the noise d from the noise source to the error microphone 13e. An FIR filter is used for the primary path filter H{circumflex over ( )}. In another embodiment, a SAN filter may be used for the primary path filter H{circumflex over ( )}.
The primary path filter unit 54 generates a noise estimation signal d{circumflex over ( )} by filtering the correction reference signal r. The primary path filter unit 54 outputs the generated noise estimation signal d{circumflex over ( )} to the virtual error signal generation unit 46.
The primary path update unit 55 adaptively updates the coefficients of the primary path filter H{circumflex over ( )} by using an adaptive algorithm such as the LMS algorithm. More specifically, the primary path update unit 55 updates the coefficients of the primary path filter H{circumflex over ( )} such that the virtual error signal e1 output from the virtual error signal generation unit 46 is minimized.
The second canceling estimation signal generation unit 44, like the first canceling estimation signal generation unit 42, consists of the secondary path filter C{circumflex over ( )}B. When the coefficients of the secondary path filter C{circumflex over ( )}B are updated in the first canceling estimation signal generation unit 42, the updated coefficients of the secondary path filter C{circumflex over ( )}B are output to the second canceling estimation signal generation unit 44, and the coefficients of the secondary path filter C{circumflex over ( )}B are updated in the second canceling estimation signal generation unit 44. That is, the coefficients of the secondary path filter C{circumflex over ( )}B set in the second canceling estimation signal generation unit 44 are not fixed values but values that are successively updated based on the signal from the first canceling estimation signal generation unit 42.
The second canceling estimation signal generation unit 44 generates a canceling estimation signal y{circumflex over ( )}2 by filtering the correction reference signal r. The second canceling estimation signal generation unit 44 outputs the generated canceling estimation signal y{circumflex over ( )}2 to the control filter update unit 45.
The control filter update unit 45 includes a control filter unit 57 and a control update unit 58.
The control filter unit 57, like the control signal generation unit 41, consists of the control filter W (W2, . . . , Wn). The control filter unit 57 generates a canceling estimation signal y{circumflex over ( )} by filtering the canceling estimation signal y{circumflex over ( )}2 output from the second canceling estimation signal generation unit 44. The control filter unit 57 outputs the generated canceling estimation signal y{circumflex over ( )} to the virtual error signal generation unit 46.
The control update unit 58 updates the coefficients of the control filter W by using an adaptive algorithm such as the LMS algorithm. More specifically, the control update unit 58 updates the coefficients of the control filter W such that a virtual error signal e2 (that will be described later) output from the virtual error signal generation unit 46 is minimized.
In this way, when the coefficients of the control filter W are updated in the control filter update unit 45, the updated coefficients of the control filter W are output to the control signal generation unit 41, and the coefficients of the control filter W are updated in the control signal generation unit 41. That is, the coefficients of the control filter W set in the control signal generation unit 41 are not fixed values but values that are successively updated based on the signal from the control filter update unit 45.
The virtual error signal generation unit 46 includes a first polarity reversing unit 61, a second polarity reversing unit 62, a first adder 63, and a second adder 64.
The first polarity reversing unit 61 reverses the polarity of the canceling estimation signal y{circumflex over ( )}1 output from the first canceling estimation signal generation unit 42. The second polarity reversing unit 62 reverses the polarity of the noise estimation signal d{circumflex over ( )} output from the noise estimation signal generation unit 43.
The first adder 63 generates the virtual error signal e1 by adding together the error signal e, the canceling estimation signal y{circumflex over ( )}1 that has passed through the first polarity reversing unit 61, and the noise estimation signal d{circumflex over ( )} that has passed through the second polarity reversing unit 62. The first adder 63 outputs the generated virtual error signal e1 to the first canceling estimation signal generation unit 42 and the noise estimation signal generation unit 43.
The second adder 64 generates the virtual error signal e2 by adding together the noise estimation signal d{circumflex over ( )} output from the noise estimation signal generation unit 43 and the canceling estimation signal y output from the control filter update unit 45. The second adder 64 outputs the generated virtual error signal e2 to the control filter update unit 45.
The adder 25 of the controller 16 generates a control signal u of the speakers 12A-12D by adding together the control signal components u′ (u1′, . . . , un′) output from the n pieces of control signal output units 23. The adder 25 outputs the generated control signal u to the speakers 12A-12D and the howl removal units 22. Accordingly, the speakers 12A-12D output the canceling sound y corresponding to the control signal u.
The estimation value calculation unit 26 of the controller 16 calculates an estimation value of the secondary path filters C{circumflex over ( )}B (hereinafter referred to as “C{circumflex over ( )}B estimation value”) based on update values of the secondary path filters C{circumflex over ( )}B. The estimation value calculation unit 26 updates the secondary path filter C{circumflex over ( )}A based on the calculated C{circumflex over ( )}B estimation value. For example, the estimation value calculation unit 26 updates the secondary path filter C{circumflex over ( )}A by copying the calculated C{circumflex over ( )}B estimation value to the secondary path filter C{circumflex over ( )}A. Hereinafter, calculation methods of the C{circumflex over ( )}B estimation value by the estimation value calculation unit 26 will be described.
First, the estimation value calculation unit 26 acquires the update values of the K pieces of secondary path filters C{circumflex over ( )}B (FIR filters in the present embodiment) from the secondary path filter units 51 of the control signal output units 23B. The update value of the k-th secondary path filter C{circumflex over ( )}Bk is represented by the following formula (2). Incidentally, “M” in the following formula (2) indicates the number of coefficients of the secondary path filter C{circumflex over ( )}B.
ĈB
k
=[ĈB
k,1
,ĈB
k,2
, . . . ĈB
k,M]T (2)
The estimation value calculation unit 26 calculates the C{circumflex over ( )}B estimation value by applying an averaging process to the update values of the K pieces of secondary path filters C{circumflex over ( )}B. For example, the estimation value calculation unit 26 calculates the m-th (m=1, . . . , M) coefficient C{circumflex over ( )}Bm of the C{circumflex over ( )}B estimation value by the following formula (3). Incidentally, ak in the following formula (3) indicates a weighting coefficient.
For example, the estimation value calculation unit 26 may fix the weighting coefficient ak to 1/K. Accordingly, the m-th coefficient C{circumflex over ( )}Bm of the C{circumflex over ( )}B estimation value is a simple average value of the coefficients of the K pieces of secondary path filters C{circumflex over ( )}B. Alternatively, the estimation value calculation unit 26 may change the weighting coefficient ak according to the control channel (the error microphone 13e to be controlled). Accordingly, the m-th coefficient C{circumflex over ( )}Bm of the C{circumflex over ( )}B estimation value is a weighted average of the coefficients of the K pieces of secondary path filters C{circumflex over ( )}B.
With reference to
Next, the estimation value calculation unit 26 performs a fast Fourier transform (FFT) on the K pieces of secondary path filters C{circumflex over ( )}B. Thus, the estimation value calculation unit 26 calculates frequency characteristics of the K pieces of secondary path filters C{circumflex over ( )}B.
Next, the estimation value calculation unit 26 calculates the frequency characteristics C{circumflex over ( )}Bf of the C{circumflex over ( )}B estimation value by applying an averaging process to the frequency characteristics of the secondary path filters C{circumflex over ( )}B. For example, the estimation value calculation unit 26 calculates the frequency characteristics C{circumflex over ( )}Bf of the C{circumflex over ( )}B estimation value by the following formula (4). Incidentally, “ak, f” in the following formula (4) indicates a weighting coefficient.
When the positions of the reference microphones 13r and the error microphone 13e are determined, the relationships between the reference microphones 13r and the error microphone 13e are also determined. Accordingly, the reference microphone 13r with high calculation accuracy of the C{circumflex over ( )}B estimation value can be determined for each frequency band of the error microphone 13e. Accordingly, the weighting coefficient ak, f of the secondary path filter C{circumflex over ( )}B, which corresponds to the reference microphone 13r with high accuracy in calculating the C{circumflex over ( )}B estimation value, may be set large for each frequency band of the error microphone 13e. Thus, the C{circumflex over ( )}B estimation value can be calculated accurately in all the frequency bands of the error microphone 13e. For example, in
Finally, the estimation value calculation unit 26 performs an inverse fast Fourier transform (IFFT) on the frequency characteristics C{circumflex over ( )}Bf of the C{circumflex over ( )}B estimation value. Thus, the estimation value calculation unit 26 calculates the C{circumflex over ( )}B estimation value corresponding to the FIR filter.
With reference to
In this way, the secondary path update unit 52 repeats the process of adaptively updating the secondary path filter C{circumflex over ( )}Bk based on the update value of the secondary path filter C{circumflex over ( )}Bk-1 (the previous update value of the secondary path filter C{circumflex over ( )}B). At this time, the secondary path update unit 52 calculates the update value of the secondary path filter C{circumflex over ( )}Bk by the following formula (5). Incidentally, “t” in the following formula (5) indicates a discrete time, “μ” in following formula (5) indicates a step size parameter (a parameter for adjusting an update amount of the secondary path filter C{circumflex over ( )}Bk), and “*” in the following formula (5) indicates a convolution operation.
ĈB
k(t)=ĈBk-1(t)−μ×e(t)×(r(t)*W(t)) (5)
When the secondary path filter C{circumflex over ( )}Bk is adaptively updated in this way, the update value of the secondary path filter C{circumflex over ( )}Bk is output to the estimation value calculation unit 26. The estimation value calculation unit 26 calculates the C{circumflex over ( )}B estimation value based on the update value of the secondary path filter C{circumflex over ( )}Bk. For example, the estimation value calculation unit 26 may set the update value itself of the secondary path filter C{circumflex over ( )}Bk as the C{circumflex over ( )}B estimation value. Alternatively, similar to the calculation methods 1 and 2 of the C{circumflex over ( )}B estimation value, the estimation value calculation unit 26 may calculate the C{circumflex over ( )}B estimation value by applying the averaging process to the update values of the K pieces of secondary path filters C{circumflex over ( )}B including the update value of the secondary path filter C{circumflex over ( )}Bk.
As described above, the controller 16 acquires the plurality of noise signals x output from the plurality of noise microphones 13A-13E, selects the plurality of reference signals r′ (that corresponds to the noise d) and the error signal e (that corresponds to the error between the noise d and the canceling sound y) from among the plurality of noise signals x, generates the control signal u of the speakers 12A-12D from the plurality of reference signals r′ by using the plurality of control filters W, and adaptively updates the plurality of control filters W by using the plurality of secondary path filters C{circumflex over ( )}A and C{circumflex over ( )}B. In other words, the active noise reduction program stored in the storage device 16b, when executed by the processing device 16a, executes an active noise reduction method described above. Thus, both the reference signals r′ and the error signal e can be generated by using the plurality of noise microphones 13A-13E. Accordingly, it is not necessary to use an expensive sensor such as an acceleration sensor to generate the reference signals r′, so that an inexpensive noise reduction system 11 can be provided.
By the way, in the present embodiment, the plurality of noise microphones 13A-13E include only one error microphone 13e. Accordingly, the transfer characteristics C of the canceling sound y from the speakers 12A to 12D to the error microphone 13e is determined. Accordingly, the values of the secondary path filters C{circumflex over ( )}A, C{circumflex over ( )}B, which correspond to the estimation value of the transfer characteristics C of the canceling sound y from the speakers 12A-12D to the error microphone 13e, may theoretically be the same.
Accordingly, the controller 16 adaptively updates the secondary path filters C{circumflex over ( )}B, and thus updates the secondary path filter C{circumflex over ( )}A by using the adaptively updated secondary path filters C{circumflex over ( )}B. In other words, the controller 16 causes some control channels to learn “C{circumflex over ( )}”, and uses C{circumflex over ( )} learned in these control channels for another control channel. Accordingly, it is possible to suppress the calculation amount (calculation load) of the controller 16 while allowing the secondary path filters C{circumflex over ( )}A and C{circumflex over ( )}B to be updated.
By the way, in the actual space, high portions (portions with a high sound pressure level) and low portions (portions with a low sound pressure level) are generated in the frequency characteristics of the reference signal r′ generated by each reference microphone 13r depending on the position in the vehicle cabin 2 of the reference microphone 13r. In particular, in the low portions of the frequency characteristics of the reference signal r′, the update accuracy of each secondary path filter C{circumflex over ( )}B tends to deteriorate as the sound pressure level is low. If the secondary path filter C{circumflex over ( )}A is updated based only on the secondary path filter C{circumflex over ( )}B with low update accuracy, the control performance of the noise reduction system 11 may deteriorate.
As such, the controller 16 updates the secondary path filter C{circumflex over ( )}A based on the plurality of secondary path filters C{circumflex over ( )}B that have been updated adaptively. In other words, the controller 16 updates the secondary path filter C{circumflex over ( )}A by using the reference signals r′ from the plurality of reference microphones 13r arranged at different positions. Accordingly, the low portions of the frequency characteristics of one reference signal r′ can be compensated by the high portions of the frequency characteristics of another reference signal r′. Accordingly, it is possible to prevent the secondary path filter C{circumflex over ( )}A from being updated based only on the secondary path filter C{circumflex over ( )}B for which the update accuracy deteriorates, so that the control performance of the noise reduction system 11 can be improved.
Next, the second embodiment of the present invention will be described with reference to
The update determination unit 75 of the controller 73 classifies adaptively updatable filters (in the present embodiment, the control filter W, the primary path filter H{circumflex over ( )}, and the secondary path filter C{circumflex over ( )}B: hereinafter collectively referred to as “updatable filters”) into P (P≥2) pieces of filter groups, and determines an update order of the filter groups. Hereinafter, a method of determining the update order of the filter groups by the update determination unit 75 will be described.
With reference to
With reference to
p=clk % P+1 (6)
For example, if the number P of the filter group is 20 and the count value clk of the clock 76 is 41, the number p of the update filter group is calculated as p=41% 20+1=2 according to the above formula (6). Accordingly, the update determination unit 75 determines the filter group having the number “2” as the update filter group.
The update determination unit 75 transmits a flag value fv (1 or 0) according to the update filter group to the update units of the updatable filters (in the present embodiment, the control update unit 38, the secondary path update unit 52, the primary path update unit 55, and the control update unit 58: hereinafter collectively referred to as “adaptive update units”). More specifically, the update determination unit 75 transmits “1” as the flag value fv to the adaptive update units of the updatable filters that are included in the update filter group. On the other hand, the update determination unit 75 transmits “0” as the flag value fv to the adaptive update units of the updatable filters that are not included in the update filter group.
Upon receiving “1” as the flag value fv from the update determination unit 75, the adaptive update units of the updatable filters adaptively update the corresponding updatable filters. On the other hand, upon receiving “0” as the flag value fv from the update determination unit 75, the adaptive update units of the updatable filters wait without adaptively updating the corresponding updatable filters.
With reference to
The controller 73 classifies the updatable filters into the plurality of filter groups, and thus adaptively updates the updatable filters for each filter group in the prescribed update order. Accordingly, the update frequency of the updatable filters can be reduced as compared with a case where all the updatable filters are adaptively updated each time. Accordingly, the calculation amount of the controller 73 can be further reduced.
In the second embodiment, the control filter W, the primary path filter H{circumflex over ( )}, and the secondary path filter C{circumflex over ( )}B are set to the updatable filters. In another embodiment, the howl filter C{circumflex over ( )}H may be adaptively updated and included in the updatable filters. In this case, the update determination unit 75 may set the update order table T1 such that not only the control filter W, the primary path filter H{circumflex over ( )}, and the secondary path filter C{circumflex over ( )}B but also the howl filter C{circumflex over ( )}H is included in the filter groups.
Next, the third embodiment of the present invention will be described with reference to
If the updatable filters are adaptively updated for each filter group as described in the second embodiment, the learning frequency of the acoustic transmission characteristics (for example, the transmission characteristics of the noise d and the canceling sound y from the speakers 12A-12D to the error microphone 13e) may decrease. Even if the learning frequency of the acoustic transmission characteristics decreases in this way, the updatable filters may be adaptively updated at intervals of several milliseconds. For example, if the sampling frequency is 5 kHz and the number P of filter groups is 20, the update intervals of the updatable filters included in one filter group are 4 ms. Accordingly, even if the learning frequency of the acoustic transmission characteristics decreases, the influence on the control effect (that is, the effect of reducing the noise d) of the noise reduction system 71 is considered to be small.
Anyway, if the learning frequency of the acoustic transmission characteristics decreases, the ability to follow the change in the acoustic transmission characteristics may deteriorate. As such, the update determination unit 75 suppresses the deterioration of the ability to follow the change in the acoustic transmission characteristics by executing the following variation determination control.
With reference to
Next, the update determination unit 75 determines whether at least one of the following conditions 1 and 2 is satisfied (step ST3).
The phase variation ΔP of the acoustic learning filters in the one adaptive update exceeds a prescribed phase threshold.
The gain variation ΔG of the acoustic learning filters in the one adaptive update exceeds a prescribed gain threshold.
In a case where at least one of the above conditions 1 and 2 is satisfied (step ST3: Yes), the update determination unit 75 estimates that the acoustic transmission characteristics have changed significantly. Accordingly, the update determination unit 75 adaptively updates the acoustic learning filters consecutively for a prescribed period (for a prescribed number of samples) regardless of the update order of the filter groups (step ST4).
On the other hand, if neither of the above conditions 1 and 2 is satisfied (step ST3: No), the update determination unit 75 estimates that the acoustic transmission characteristics have not changed significantly. Accordingly, the update determination unit 75 adaptively updates the acoustic learning filters based on the update order of the filter group (step ST5).
In a case where the variation (the phase variation ΔP or the gain variation ΔG) of the acoustic learning filters in one adaptive update thereof exceeds the prescribed threshold, the controller 73 adaptively updates the acoustic learning filters consecutively for a prescribed period regardless of the update order. Accordingly, it is possible to suppress the deterioration of the ability to follow the change in the acoustic transmission characteristics due to the decrease in the update frequency of the acoustic learning filters.
Next, the fourth embodiment of the present invention will be described with reference to
With reference to
The controller 83 acquires buffer data in which the noise signals x are stored in a time series, and processes the noise signals x for each buffer data. That is, the controller 83 adopts a method of processing signals similar to that of a smart device.
The controller 83 is connected to an interface 18 provided in the vehicle 1, and is connected to the speakers 12A-12D and the noise microphones 13A-13E via the interface 18. The interface 18 may be a wired interface such as USB, or a wireless interface such as Bluetooth™.
The components of the controller 83 are the same as those of the controller 73 according to the second embodiment. Accordingly, the descriptions of the components of the controller 83 will be omitted. Hereinafter, update suspension control executed by the update determination unit 75 of the controller 83 will be described.
With reference to
In a case where the update time of the updatable filters is equal to or less than the reference time (step ST12: No), it is probable that the update time of the updatable filters is insufficient (learning of the acoustic transmission characteristics is insufficient). Accordingly, the updatable filters are again updated adaptively in step ST11.
By contrast, in a case where the update time of the updatable filters exceeds the reference time (step ST12: Yes), it is probable that the update time of the updatable filters is sufficient (learning of the acoustic transmission characteristics is sufficient). Accordingly, the update determination unit 75 suspends the adaptive update of the updatable filters (step ST13).
Next, the update determination unit 75 calculates the current sound pressure evaluation amount J(n) based on the following formula (7) (step ST14). Incidentally, “J(n−1)” in the following formula (7) indicates the previous sound pressure evaluation amount, “β” in the following formula (7) indicates an averaging coefficient, “e(n)” in the following formula (7) indicates the current error signal e, and “L” in the following formula (7) indicates the number of error signals e.
As is clear from the above formula (7), the current sound pressure evaluation amount J(n) is calculated by adding together the previous sound pressure evaluation amount J(n−1) and the temporal average of the sum of squares of the current error signal e(n).
Next, the update determination unit 75 determines whether the control effect (that is, the effect of reducing noise d) of the noise reduction system 81 is reduced based on the current sound pressure evaluation amount J(n) (step ST15). For example, in a case where at least one of the following conditions A and B is satisfied, the update determination unit 75 determines that the control effect of the noise reduction system 81 is reduced. By contrast, in a case where neither of the following conditions A and B is satisfied, the update determination unit 75 determines that the control effect of the noise reduction system 81 is reduced.
The current sound pressure evaluation amount J(n) is greater than a prescribed first threshold.
The difference between the current sound pressure evaluation amount J(n) and the previous sound pressure evaluation amount J(n-ΔN) is greater than a prescribed second threshold.
Upon determining that the control effect of the noise reduction system 81 is not reduced (step ST15: No), the update determination unit 75 again calculates the current sound pressure evaluation amount J(n) in step ST14 while suspending the adaptive updates of the updatable filters.
By contrast, upon determining that the control effect of the noise reduction system 81 is reduced (step ST15: Yes), the update determination unit 75 resumes the adaptive updates of the updatable filters (step ST16), and ends the update suspension control.
The controller according to the comparative example adaptively updates all the secondary path filters C{circumflex over ( )}. By contrast, the controller 16 according to the first embodiment adaptively updates only a part (that is, the secondary path filters C{circumflex over ( )}B) of the secondary path filters C{circumflex over ( )}. Accordingly, the calculation amount of the controller 16 according to the first embodiment is reduced as compared with the controller according to the comparative example.
Further, the controller 16 according to the first embodiment adaptively updates all the updatable filters each time. By contrast, the controller 73 according to the second embodiment adaptively updates only the updatable filters included in the update filter group. Accordingly, the calculation amount of the controller 73 according to the second embodiment is reduced as compared with that of the controller 16 according to the first embodiment.
Furthermore, the controller 73 according to the second embodiment adaptively updates the updatable filters constantly. On the other hand, the controller 83 according to the fourth embodiment temporarily suspends the adaptive update of the updatable filters. Accordingly, the calculation amount per buffer data of the controller 83 according to the fourth embodiment is smaller than that of the controller 73 according to the second embodiment. That is, by adopting the configurations of the fourth embodiment, the calculation amount of the controller 83 can be greatly reduced in the method of processing signals similar to that of a smart device.
In the fourth embodiment, the controller 83 is installed in the smart device 17 (an example of a portable terminal) configured to be taken outside the vehicle 1. In the modification of the fourth embodiment, the controller 83 may be installed in an onboard system (not shown) arranged in the vehicle 1. More specifically, the controller 83 may be realized by an active noise reduction program (active noise reduction application) executed on an OS of the onboard system.
Concrete embodiments of the present invention have been described in the foregoing, but the present invention should not be limited by the foregoing embodiments and various modifications and alterations are possible within the scope of the present invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2022-051662 | Mar 2022 | JP | national |
