Noise control method and device, chip and vehicle

Abstract

The embodiment of the invention discloses a noise control method and device, a chip and a vehicle. A first processing unit obtains at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period; the first processing unit sends at least one first reference sound signal and at least one error sound signal to the second processing unit; the second processing unit performs filter parameter updating based on the at least one first reference sound signal and the at least one error sound signal to obtain a first filter parameter, and returns the first filter parameter to the first processing unit; and the first processing unit carries out filtering processing on the at least one second reference sound signal of the second noise reduction period based on the first filter parameter to obtain at least one noise control signal and sends the noise control signal to the at least one sound source of the at least one second position, so that the at least one sound source plays the noise control signal. According to the embodiment of the invention, the available computing power of a noise control system is expanded, and the reliability and robustness of noise control are improved.

Description

Technical Field

[0001] The present disclosure relates to the fields of information processing technology and vehicle-mounted noise control technology, and in particular to a noise control method, device, chip and vehicle. Background Art

[0002] When a vehicle is driving, it will encounter various road conditions, which will cause a lot of noise inside the car. Using sound-absorbing cotton and vibration-damping pads in the vehicle to reduce the generation and transmission of noise cannot meet consumers' requirements for noise control inside the car. Therefore, active noise control technology came into being.

[0003] In the related art, in order to control the road noise originating from the vibration of the vehicle body structure, the road noise control (RNC) system uses the acceleration sensor signal arranged on the vehicle body as the reference signal, takes minimizing the noise level at the ears of passengers in the cabin as the goal, and adaptively generates and plays the control signal to offset the road noise. Since the frequency range of the road noise to be controlled is wide, and there are many channels for collecting reference signals and outputting control signals (speakers), the control algorithm of the RNC system is highly complex and the computing power requirements of the system are also very high.

[0004] How to meet the computing power requirements of the RNC system has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] Embodiments of the present disclosure provide a noise control method, device, chip and vehicle.

[0006] According to one aspect of an embodiment of the present disclosure, a noise control method is provided, the method comprising: a first processing unit acquires at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, wherein the at least one first reference sound signal is a noise signal collected from at least one first position on a vehicle, and the at least one error sound signal is a noise residual signal collected from at least one second position in a cabin of the vehicle; the first processing unit sends at least one first reference sound signal and at least one error sound signal to a second processing unit; the second processing unit updates filter parameters based on the at least one first reference sound signal and the at least one error sound signal to obtain first filter parameters, and returns the first filter parameters to the first processing unit; the first processing unit performs filtering processing on at least one second reference sound signal corresponding to a second noise reduction period based on the first filter parameters to obtain at least one noise control signal and sends it to at least one sound source corresponding to at least one second position, so that the at least one sound source plays the corresponding noise control signal, and the second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0007] According to another aspect of an embodiment of the present disclosure, a noise control device is provided, the device comprising: a first processing unit and a second processing unit, the first processing unit and the second processing unit being connected via an inter-core communication link; the first processing unit being used to obtain at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, wherein the at least one first reference sound signal is a noise signal collected from at least one first position on the vehicle, and the at least one error sound signal is a noise residual signal collected from at least one second position in the cabin of the vehicle; the first processing unit being used to send at least one first reference sound signal and at least one error sound signal to the second processing unit; the second processing unit being used to update filter parameters based on the at least one first reference sound signal and the at least one error sound signal to obtain first filter parameters, and returning the first filter parameters to the first processing unit; the first processing unit being used to filter the at least one second reference sound signal corresponding to the second noise reduction period based on the first filter parameters to obtain at least one noise control signal and send the signal to at least one sound source corresponding to the at least one second position, so that the at least one sound source plays the corresponding noise control signal, and the second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0008] According to another aspect of an embodiment of the present disclosure, a chip is provided, comprising: a first processing unit and a second processing unit, the first processing unit and the second processing unit being connected via an inter-core communication link; the first processing unit being used to obtain at least one first reference acoustic signal and at least one error acoustic signal corresponding to a first noise reduction period, wherein the at least one first reference acoustic signal is a noise signal collected from at least one first position on a vehicle, and the at least one error acoustic signal is a noise residual signal collected from at least one second position in a cabin of the vehicle; the first processing unit being used to send at least one first reference acoustic signal and at least one error acoustic signal to the second processing unit; the second processing unit being used to update filter parameters based on the at least one first reference acoustic signal and the at least one error acoustic signal, obtain first filter parameters, and return the first filter parameters to the first processing unit; the first processing unit being used to filter at least one second reference acoustic signal corresponding to a second noise reduction period based on the first filter parameters, obtain at least one noise control signal, and send the signal to at least one sound source corresponding to at least one second position, so that the at least one sound source plays the corresponding noise control signal, and the second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0009] According to another aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a vehicle body, at least one first sensor, at least one second sensor and at least one sound source, as well as the above-mentioned noise control device or the above-mentioned chip; at least one first sensor is deployed at at least one first position on the vehicle body; at least one second sensor is deployed at at least one second position on the vehicle body; at least one sound source is deployed at at least one second position on the vehicle body.

[0010] Based on the above embodiments of the present disclosure, in a system for controlling noise, a first processing unit obtains at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, and sends the at least one first reference sound signal and the at least one error sound signal to a second processing unit, and the second processing unit updates filter parameters based on the at least one first reference sound signal and the at least one error sound signal to obtain first filter parameters, and returns the first filter parameters to the first processing unit, so that the first processing unit can use the first filter parameters to filter at least one second reference sound signal collected in the second noise reduction period to obtain at least one noise control signal; and send the at least one noise control signal to at least one sound source corresponding to at least one second position, so that the at least one sound source plays the corresponding noise control signal to achieve noise control. Therefore, the technical solution disclosed in the present invention realizes noise control by combining the first processing unit and the second processing unit, which effectively expands the available computing power of the noise control system and improves the reliability and robustness of the noise control; in addition, since the unit computing power cost of the second processing unit is low and the reusability is strong, part of the algorithm implementation in the noise control is migrated to the second processing unit. For example, the update of filter parameters with lower real-time requirements is realized by the second processing unit, which helps to reduce the cost of the noise control system; at the same time, the signal filtering and output are realized by the first processing unit, which can ensure the high real-time performance and noise reduction effect of the noise control.

[0011] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a diagram of a noise control system to which the present disclosure is applicable.

[0013] Figure 2 It is a flowchart of a noise control method provided by an exemplary embodiment of the present disclosure.

[0014] Figure 3 It is a flowchart of a noise control method provided by another exemplary embodiment of the present disclosure.

[0015] Figure 4 It is a schematic diagram of a filter parameter updating process in a noise control method provided by another exemplary embodiment of the present disclosure.

[0016] Figure 5 It is a schematic diagram of the structure of a noise control device provided by an exemplary embodiment of the present disclosure.

[0017] Figure 6 It is a schematic structural diagram of a noise control device provided by another exemplary embodiment of the present disclosure.

[0018] Figure 7 It is a schematic diagram of a chip structure for noise control provided by another exemplary embodiment of the present disclosure.

[0019] Figure 8 is a schematic diagram of a vehicle with a noise control function provided by another exemplary embodiment of the present disclosure.

[0020] Fig. 9 is a structural diagram of an electronic device provided by another exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] Below, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0022] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0023] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0024] It should also be understood that in the embodiments of the present disclosure, "plurality" may refer to two or more than two, and "plurality" may refer to one, two, or more than two.

[0025] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0026] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0027] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0028] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0029] The following description of exemplary embodiments is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0030] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0031] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0032] The disclosed embodiments can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0033] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0034] SUMMARY OF THE DISCLOSURE

[0035] In the process of implementing the technical solution disclosed in the present invention, the inventors found through research that when the RNC system uses the signal collected by the acceleration sensor arranged on the vehicle body as the reference signal to determine the playback control signal, the amount of data to be processed is large, so the computing power of the control algorithm of the RNC system is required to be high. Under the related technology, the RNC system is deployed on a digital signal processor (DSP). When the available computing power of the DSP where the RNC system is deployed reaches a bottleneck, the effect and real-time performance of noise control cannot be guaranteed.

[0036] In order to expand the available computing power of the noise control system and ensure the high real-time performance and noise reduction effect of noise control, the inventor proposed the technical solution disclosed in the present invention.

[0037] Exemplary Systems

[0038] Figure 1 A noise control system 100 suitable for a noise control method using an embodiment of the present disclosure is shown.

[0039] like Figure 1 As shown, the noise control system 100 is applied to the noise generated during the driving of the vehicle, and includes a first sensor 101, a second sensor 102, a sound source 103, a digital signal processor 104 and a central processing unit (CPU) 105.

[0040] The first sensor 101 is a sensor for collecting reference acoustic signals, including an accelerometer sensor or a microphone array deployed at a vehicle chassis position or an engine compartment position on the vehicle body, for real-time collection of noise signals generated by the vibration of the vehicle body or the engine during vehicle driving. After the first sensor 101 collects the reference acoustic signal, it sends the collected reference acoustic signal to the digital signal processor 104. The reference acoustic signal may include road noise during vehicle driving, for example, noise generated by the contact between the tire and the ground, and / or noise generated by the tire itself, and / or engine noise, etc.

[0041] The second sensor 102 is a sensor for collecting error sound signals. The second sensor 102 includes an audio signal collection sensor deployed in the cabin of the vehicle, for example, a microphone deployed in the cabin near the position of the human ear. The error sound signal collected by the second sensor 102 is a noise residual signal obtained by superimposing the noise control signal and the noise signal collected in the vehicle. Among them, the noise control signal is a signal for controlling the noise in the vehicle obtained by filtering the reference sound signal collected by the first sensor 101. After the second sensor 102 collects the error sound signal, the collected error sound signal is sent to the digital signal processor 104.

[0042] The sound source 103 is a player for playing the noise control signal, and the sound source 103 includes a headrest speaker deployed in the vehicle cabin or a vehicle-mounted speaker deployed in the vehicle. After receiving the noise control signal sent by the digital signal processor 104, the sound source 103 plays the noise control signal.

[0043] After the digital signal processor 104 obtains the reference sound signal and the error sound signal corresponding to the first noise reduction cycle, it sends the reference sound signal and the error sound signal to the central processor 105; the central processor 105 updates the filter parameters based on the reference sound signal and the error sound signal corresponding to the first noise reduction cycle, obtains the first filter parameters, and returns the first filter parameters to the digital signal processor 104; the digital signal processor 104 filters the reference sound signal corresponding to the second noise reduction cycle based on the first filter parameters, obtains the noise control signal and sends it to the sound source 103 accordingly, so that the sound source 103 plays the corresponding noise control signal, wherein the second noise reduction cycle is a noise reduction cycle adjacent to the first noise reduction cycle.

[0044] The digital signal processor 104 and the central processing unit 105 may be integrated into one chip, or may be arranged in different chips or circuit boards, and these chips or circuit boards may communicate with each other through inter-core communication.

[0045] The number of the first sensor 101, the second sensor 102, the sound source 103, the digital signal processor 104 and the central processing unit (CPU) 105 provided in the embodiment of the present disclosure is merely exemplary. According to actual needs, more than two first sensors 101, second sensors 102, sound sources 103, digital signal processors 104 and central processing units (CPU) 105 may be provided.

[0046] Exemplary Methods

[0047] Figure 2 is a flow chart of a noise control method provided by an exemplary embodiment of the present disclosure. This embodiment is applied in a noise control system (the noise control system includes at least a first processing unit and a second processing unit), such as Figure 2 As shown, it includes the following steps 201 to 204. Each step is described below.

[0048] Step 201: A first processing unit obtains at least one first reference acoustic signal and at least one error acoustic signal corresponding to a first noise reduction period, wherein the at least one first reference acoustic signal is a noise signal collected from at least one first position on a vehicle, and the at least one error acoustic signal is a noise residual signal collected from at least one second position in a cabin of the vehicle.

[0049] The first processing unit is used to indicate a functional module for filtering the reference sound signal, and may include a digital signal processing unit, which is deployed in Figure 1 The first processing unit can be a high real-time digital signal processing unit, which is used to undertake functions such as real-time filtering and data transmission.

[0050] In this embodiment, the noise reduction cycle is used to indicate the time interval for using the same filter parameters for noise reduction. The filter parameters used in different noise reduction cycles may be different, but the reference sound signal in one noise reduction cycle uses the same filter parameters for signal filtering. The first noise reduction cycle may be a time period including the current moment.

[0051] The first reference sound signal is used to characterize the road noise during the driving process of the vehicle, for example, including the noise generated by the contact between the tire and the ground, and / or the noise generated by the tire itself. The first reference sound signal can be a noise signal collected at least at a first position on the vehicle. The first position can be a vehicle chassis position or an engine compartment position on the vehicle body, and at least one first sensor for collecting the reference sound signal can be an accelerometer sensor or a microphone or other sound pickup device.

[0052] The error sound signal is a noise residual signal collected from at least one second position in the cabin of the vehicle. The error sound signal can be collected by at least one second sensor deployed at at least one second position, such as a microphone or other sound pickup device. The second position usually refers to a position close to the human ear inside the vehicle. The error sound signal is an error signal obtained by superimposing the noise signal (including the reference sound signal and other in-vehicle noise signals) with the noise control signal.

[0053] In this embodiment, after each first sensor collects a first reference sound signal, it sends the first reference sound signal to the first processing unit, and after each second sensor collects an error sound signal, it sends the error sound signal to the first processing unit, so that the first processing unit can obtain at least one first reference sound signal and at least one error sound signal.

[0054] Step 202: The first processing unit sends at least one first reference acoustic signal and at least one error acoustic signal to the second processing unit.

[0055] The second processing unit is used to instruct the function module to update the filter parameters, which may include a central processing unit, which is deployed in Figure 1 The second processing unit can generally be a processing unit with a lower unit computing cost than the first processing unit, including a central processing unit, an embedded processing unit (such as an ARM cortex-r processing unit), and the like.

[0056] It should be noted that the "first" and "second" included in the names of the first processing unit and the second processing unit are only used for functional distinction. In some cases, the first processing unit may generally be the above-mentioned high-performance processing unit with a higher unit computing power cost, and the second processing unit may be a processing unit with a lower unit computing power cost.

[0057] In this embodiment, the first processing unit and the second processing unit can communicate with each other through inter-core communication, which can be implemented in a variety of ways, including shared memory, lock-free queues, and the like.

[0058] Specifically, the inter-core communication method of the shared memory is that the first processing unit and the second processing unit can access the same shared memory space, and realize data interaction and communication by reading and writing the data in the shared memory space. The inter-core communication method of the lock-free queue is to use a software-based parallel lock-free queue to realize conflict-free transmission of data between the first processing unit and the second processing unit. For example, the Linked-list-based Concurrent Ring Queue (LCRQ) is a high-performance lock-free queue. Through special algorithms and designs, it is ensured that the first processing unit and the second processing unit can access the queue concurrently without deadlock. This implementation method is suitable for scenarios with large data volumes and high real-time requirements.

[0059] In some embodiments, when the first processing unit sends at least one first reference acoustic signal and at least one error acoustic signal to the second processing unit, a shared memory can be used to implement data transmission, that is, at least one first reference acoustic signal and at least one error acoustic signal are written to the shared memory, and the second processing unit obtains at least one first reference acoustic signal and at least one error acoustic signal by accessing the shared memory.

[0060] In other embodiments, when the first processing unit sends at least one first reference sound signal and at least one error sound signal to the second processing unit, a lock-free queue can also be used to implement data transmission, that is, at least one first reference sound signal and at least one error sound signal are written into the lock-free queue, and the second processing unit obtains at least one first reference sound signal and at least one error sound signal by subscribing to the lock-free queue.

[0061] Step 203: The second processing unit updates filter parameters based on at least one first reference acoustic signal and at least one error acoustic signal to obtain first filter parameters, and returns the first filter parameters to the first processing unit.

[0062] Among them, the filter is a frequency selection device that allows specific frequency components in the signal to pass through and greatly attenuates other frequency components. By using this frequency selection function of the filter, interference noise can be filtered out or spectrum analysis can be performed. The filter used in this embodiment is an adaptive filter, which functions as an adaptive noise canceller in this embodiment. The operation of the adaptive filter involves two basic processes: the filtering process and the adaptive process. Among them, the filtering process is the convolution process of the input signal and the filter parameters, which is used to generate an output response to a series of input signals; the adaptive process is to achieve adaptive adjustment of the filter parameters through a specific algorithm (different algorithms can be selected as needed, for example, FxLMS, ​​FxNLMS, FxAP, FxRLS, etc.) with the purpose of continuously reducing the average error between the response signal and the expected signal.

[0063] Among them, the FxLMS (Filtered-x Least Mean Square) algorithm is an adaptive filter algorithm based on the minimum mean square criterion. It adjusts the filter coefficients by comparing the reference signal with the filter generation to minimize the mean square error of the error signal. The FxNLMS (Filtered-x Normalized Least Mean Square) algorithm is an improved version of the FxLMS algorithm. By introducing a normalization factor, it is used to adaptively adjust the step value. Through the normalization factor, the FxNLMS algorithm can better adapt to different signal strengths and noise environments and improve the filtering performance. The FxAP (Filtered-x Affine Projection) algorithm is an affine projection algorithm. It has the characteristics of data reuse, orthogonal projection in N gradient directions and normalization processing. It is an algorithm that improves the convergence speed of the adaptive filter when the reference signal is related, and can strike a balance between the convergence speed and the amount of misalignment. The FxRLS (Filtered-x Recursive Least Squares) algorithm is an adaptive filtering algorithm based on the least squares criterion. It recursively updates the filter parameters to minimize the mean error of the error sound signal.

[0064] By using the above algorithm, such as FxNLMS, the filter parameters can be iteratively updated by combining at least one first reference acoustic signal and at least one error acoustic signal until the filter parameters converge or a preset number of iterations is reached to obtain the first filter parameters.

[0065] In this embodiment, after the first filter parameters are obtained, the first filter parameters may be sent to the first processing unit by means of inter-core communication.

[0066] In step 204, the first processing unit performs filtering processing on at least one second reference sound signal corresponding to the second noise reduction period based on the first filter parameters to obtain at least one noise control signal and sends it to at least one sound source corresponding to at least one second position, so that at least one sound source plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0067] The second noise reduction cycle is an adjacent noise reduction cycle after the first noise reduction cycle, that is, the first filter parameters determined based on at least one reference sound signal and at least one error sound signal obtained in the first noise reduction cycle are used to filter the reference sound signal of the next adjacent noise reduction cycle.

[0068] Optionally, the reference sound signal of the second noise reduction period can be filtered by equation (1) to obtain a noise control signal y(n)=[y0(n),y0(n),…,y L-1 (n)], where L is the number of sound sources (the number of loudspeakers).

[0069]

[0070] Among them, y l (n) represents the noise control signal obtained by filtering for playing the sound source l, n represents the time index after the reference sound signal is digitally sampled, M represents the number of channels of the sensor for collecting the reference sound signal, and W lm (n) represents the filter coefficient, which is a matrix of LxM dimensions. m (n) represents a reference sound signal with m channels, L is the number of sound sources (the number of loudspeakers), and * represents a convolution operation.

[0071] Optionally, after the noise control signal corresponding to each sound source is determined, the corresponding noise control signal may be played inside the vehicle through a corresponding speaker.

[0072] Through the above steps 201 to 204, in the system for controlling noise, the first processing unit obtains at least one first reference sound signal and at least one error sound signal corresponding to the first noise reduction period, and sends the at least one first reference sound signal and at least one error sound signal to the second processing unit, and the second processing unit updates the filter parameters based on the at least one first reference sound signal and the at least one error sound signal to obtain the first filter parameters, and returns the first filter parameters to the first processing unit, so that the first processing unit can use the first filter parameters to filter the at least one second reference sound signal collected in the second noise reduction period to obtain at least one noise control signal; and send the at least one noise control signal to at least one sound source corresponding to at least one second position, so that the at least one sound source plays the corresponding noise control signal to achieve noise control. Therefore, the technical solution disclosed in the present invention realizes noise control by combining the first processing unit and the second processing unit, which effectively expands the available computing power of the noise control system and improves the reliability and robustness of the noise control; in addition, since the unit computing power cost of the second processing unit is low and the reusability is strong, part of the algorithm implementation in the noise control is migrated to the second processing unit. For example, the update of filter parameters with lower real-time requirements is realized by the second processing unit, which helps to reduce the cost of the noise control system; at the same time, the signal filtering and output are realized by the first processing unit, which can ensure the high real-time performance and noise reduction effect of the noise control.

[0073] Figure 3 is a flow chart of a noise control method provided by another exemplary embodiment of the present disclosure. Figure 3 As shown, the process includes the following steps 301 to 307. Each step is described below.

[0074] Step 301: A first processing unit obtains at least one first reference acoustic signal and at least one error acoustic signal corresponding to a first noise reduction period.

[0075] Among them, at least one first reference sound signal is a noise signal collected from at least one first position on the vehicle, and at least one error sound signal is a noise residual signal collected from at least one second position in the cabin of the vehicle.

[0076] In this embodiment, at least one first sensor is deployed at at least one first position of the vehicle, and each first sensor collects a first reference acoustic signal at each first position, and sends the collected first reference acoustic signal to the first processing unit, so that the first processing unit receives at least one first reference acoustic signal correspondingly collected by at least one first sensor in the first noise reduction period. At least one second sensor is deployed at at least one second position of the vehicle, and each second sensor collects an error acoustic signal at each second position, and sends the collected error acoustic signal to the first processing unit, so that the first processing unit receives at least one error acoustic signal correspondingly collected by at least one second sensor in the first noise reduction period.

[0077] The specific implementation of step 301 can be found in Figure 2 The description of step 201 of the illustrated embodiment will not be described in detail here.

[0078] Step 302: The first processing unit writes at least one first reference acoustic signal and at least one error acoustic signal into a shared memory, and sends a first notification message to the second processing unit, wherein the first notification message carries address information.

[0079] Among them, the shared memory is used to indicate the storage area accessed by the first processing unit and the second processing unit. Since the frequency of transmitting at least one first reference acoustic signal and at least one error acoustic signal from the first processing unit to the second processing unit is relatively high, in order to prevent data loss caused by jitter in inter-core communication, in this embodiment, a ring buffer mechanism is preferably used to cache at least one first reference acoustic signal and at least one error acoustic signal, that is, a ring buffer is set in the shared memory, and the above-mentioned at least one first reference acoustic signal and at least one error acoustic signal are cached in the ring buffer. The ring buffer is used to represent the data structure of a fixed-size, head-to-tail connected buffer, which is suitable for caching data streams.

[0080] In some other optional implementations, a fixed-length buffer may be used to cache at least one first reference acoustic signal and at least one error acoustic signal, which has a simple structure, fast reading and writing speed, and is easy to manage.

[0081] In some other optional implementations, a chain buffer may be used to cache at least one first reference acoustic signal and at least one error acoustic signal. The chain buffer can be dynamically expanded and is suitable for data transmission requirements of different sizes, with high flexibility.

[0082] In this embodiment, after writing data to the shared memory, a first notification message may be sent to the second processing unit, the first notification message carrying address information of the written data. For example, the first notification message is sent to the second processing unit via a mailbox mechanism Mailbox.

[0083] Step 303: After receiving the first notification message, the second processing unit reads at least one first reference acoustic signal and at least one error acoustic signal from the storage space indicated by the address information of the shared memory.

[0084] After receiving the first notification message, the second processing unit parses the first notification message to obtain address information, and then reads at least one first reference acoustic signal and at least one error acoustic signal from the storage space indicated by the address information.

[0085] Step 304: The second processing unit updates filter parameters based on at least one first reference acoustic signal and at least one error acoustic signal to obtain first filter parameters.

[0086] The specific implementation of step 304 can be found in Figure 2 The description of step 203 of the illustrated embodiment will not be described in detail here.

[0087] Step 305: The second processing unit writes the first filter parameter into a first buffer area of ​​a preset double buffer area of ​​the shared memory, and sends a second notification message to the first processing unit.

[0088] Among them, since the filter parameters sent by the second processing unit to the first processing unit have a longer period, it is preferred to use an A / B buffer method to transmit the filter parameters. The A / B buffer method refers to using a double buffer, when one buffer is used by the first processing unit, the other buffer is used by the second processing unit.

[0089] Exemplarily, after the second processing unit determines the first filter parameter, it writes the first filter parameter into the first cache area, and sends a second notification message to the first processing unit, the second notification message carries the indication information that the first filter parameter has been written into the first cache area, and then the first cache area is switched from the state where the second processing unit writes to the state where the first filter parameter is read by the first processing unit. Before the first processing unit sends a response message to the second processing unit indicating that the first filter parameter has been successfully read, the second processing unit cannot operate on the first cache area, but can only operate on the second cache area; after the first processing unit sends a response message to the second processing unit indicating that the first filter parameter has been successfully read and the first filter parameter has been successfully switched, the second processing unit can continue to operate on the first cache area.

[0090] The second notification message may be a synchronization message, which is used to indicate to the first processing unit that the filter parameters have been updated to the first buffer area.

[0091] Step 306: After receiving the second notification message, the first processing unit reads the first filter parameter in the first buffer area.

[0092] Among them, after receiving the second notification message, the first processing unit parses the second notification message to obtain an indication message for writing the first filter parameters to the first cache area, and then reads the corresponding first filter parameters from the first cache area, and replaces the original filter parameters with the first filter parameters, and uses the first filter parameters to filter at least one second reference sound signal corresponding to the second noise reduction period.

[0093] Step 307: The first processing unit performs filtering processing on at least one second reference sound signal corresponding to the second noise reduction period based on the first filter parameters to obtain at least one noise control signal and sends it to at least one sound source corresponding to at least one second position, so that at least one sound source plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0094] The specific implementation of step 307 can be found in Figure 2 The description of step 204 of the illustrated embodiment will not be described in detail here.

[0095] Through the above steps 301 to 307, a specific implementation method for data transmission between a first processing unit and a second processing unit through inter-core communication is disclosed. The first processing unit writes at least one first reference acoustic signal and at least one error acoustic signal to a shared memory, and sends a first notification message to the second processing unit. The first notification message carries address information. After receiving the first notification message, the second processing unit reads at least one first reference acoustic signal and at least one error acoustic signal from a storage space indicated by the address information of the shared memory, and updates filter parameters based on the at least one first reference acoustic signal and the at least one error acoustic signal to obtain first filter parameters, and then writes the first filter parameters to a first buffer area of ​​a preset double buffer area of ​​the shared memory, and sends a second notification message to the first processing unit. After receiving the second notification message, the first processing unit reads the first filter parameters in the first buffer area, and based on the first filter parameters, filters at least one second reference acoustic signal corresponding to a second noise reduction period to obtain at least one noise control signal and sends it to at least one sound source corresponding to at least one second position, so that at least one sound source plays the corresponding noise control signal. Therefore, the technical solution disclosed in the present invention realizes data interaction between the first processing unit and the second processing unit through inter-core communication; in addition, according to the characteristics of data transmission between the first processing unit and the second processing unit, when the first processing unit transmits data to the second processing unit, a ring buffer mechanism is preferably used to prevent data loss caused by jitter of inter-core communication, and when the second processing unit transmits data to the first processing unit, a double buffer mechanism is preferably used. By alternating between two independent buffers, competition for read and write operations is reduced, thereby improving concurrent read and write efficiency, helping to prevent data loss and ensuring complete data transmission.

[0096] Figure 4 is a schematic diagram of a filter parameter updating process in a noise control method provided by another exemplary embodiment of the present disclosure. Figure 2 Based on the illustrated embodiment, step 204 includes step 241 and step 242. Each step is described below.

[0097] In step 241 , a second processing unit determines at least one filtering reference signal based on at least one first reference acoustic signal.

[0098] The first reference sound signal has different propagation paths, so different signals can be collected at different positions. By setting up sound pickup devices (e.g., microphones, accelerometer sensors, etc.) at different positions of the vehicle, the noise signal is picked up to obtain a filtered reference signal and an error signal. For example, an accelerometer sensor is set at the bottom of the vehicle to obtain a reference sound signal, and a microphone is set inside the vehicle to obtain an error sound signal.

[0099] In this embodiment, the first noise signal is filtered by an estimation filter to determine a filtering reference signal, wherein the estimation filter is a filter corresponding to the secondary path. The estimation process of the filter can be obtained by offline modeling or online modeling. For example, white noise is played, and the emitted white noise signal and the signal received at the end of the secondary path are processed by the Wiener algorithm to determine the relative filter between the two as the estimated filter. In this embodiment, the secondary path represents the propagation path from the speaker inside the vehicle to the second sensor.

[0100] In this embodiment, by filtering the first reference acoustic signal, the consumption of the first reference acoustic signal in the secondary path propagation is compensated, the transmission error is reduced, and the accuracy of the filter update is improved.

[0101] Step 242, based on at least one filtering reference signal and at least one error sound signal, the second filter parameters are updated to obtain the first filter parameters, the second filter parameters are filter parameters used to filter at least one third reference sound signal corresponding to the third noise reduction period, and the third noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0102] In this embodiment, the difference between the updated first filter parameters and the updated second filter parameters is within a preset range. That is, the difference between the first filter parameters and the second filter parameters is within a preset range. The adaptive filtering algorithm is a commonly used algorithm for vehicle-mounted active noise reduction. In this embodiment, the adaptive filtering algorithm can use algorithms such as FxLMS, ​​FxNLMS, FxAP, and FxRLS. After receiving the filter reference signal and the error sound signal in the adaptive filtering algorithm, the filter parameters are iteratively updated.

[0103] In this embodiment, the update of the filter parameters can be implemented by selecting any adaptive filtering algorithm, and the Least Mean Square (LMS) algorithm is used as an example for explanation. The LMS algorithm is a common adaptive filter algorithm, which iteratively updates the filter parameters so that the output of the filter is as close to the desired signal as possible. The filter parameter iterative update formula is shown in formula (2):

[0104] w(n+1)=w(n)+μ(n)e(n)r(n) Formula (2)

[0105] In formula (2), w(n+1) represents the updated first filter parameter; w(n) represents the second filter parameter before updating; μ(n)e(n)r(n) represents the parameter update amount; r(n) represents the filtering reference signal, e(n) represents the error sound signal, and μ(n) represents the update step value.

[0106] In this embodiment, at least one first reference sound signal is collected at different positions in the vehicle, and the corresponding filtering reference signal r(n) is determined in combination with the consumption generated by each first reference sound signal in the propagation path. Thus, the second filter parameters before the update are updated according to the filtering reference signal, the error sound signal and the second filter parameters before the update, and the updated first filter parameters are obtained, thereby realizing adaptive updating of the filter parameters, ensuring the best filtering effect, and ensuring that signal filtering has higher versatility and flexibility in the noise control system.

[0107] Exemplary Devices

[0108] Figure 5 is a schematic diagram of the structure of a noise control device provided by an exemplary embodiment of the present disclosure, such as Figure 5 As shown, the device provided in this embodiment includes: a first processing unit 51, a second processing unit 52, and at least one sound source 53. Among them,

[0109] A first processing unit 51 is configured to obtain at least one first reference acoustic signal and at least one error acoustic signal corresponding to a first noise reduction period, wherein the at least one first reference acoustic signal is a noise signal collected from at least one first position on the vehicle, and the at least one error acoustic signal is a noise residual signal collected from at least one second position in a cabin of the vehicle;

[0110] The first processing unit 51 is used to send at least one first reference acoustic signal and at least one error acoustic signal to the second processing unit 52;

[0111] A second processing unit 52 is used to update the filter parameters based on at least one first reference acoustic signal and at least one error acoustic signal to obtain first filter parameters, and return the first filter parameters to the first processing unit 51;

[0112] The first processing unit 51 is used to filter at least one second reference sound signal corresponding to a second noise reduction period based on the first filter parameters to obtain at least one noise control signal and send it to at least one sound source 53 corresponding to at least one second position, so that at least one sound source 53 plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0113] The first processing unit 51 is used to indicate a functional module for filtering the reference sound signal, and may be deployed as follows: Figure 1 In the digital signal processor 104 shown, the first processing unit can generally be a high real-time digital signal processing unit, which is used to undertake functions such as real-time filtering and data transmission.

[0114] The second processing unit 52 is used to instruct the function module to update the filter parameters, which can be deployed in Figure 1 The second processing unit can generally be a processing unit with a lower unit computing cost than the first processing unit, including a central processing unit, an embedded processing unit (such as an ARM cortex-r processing unit), and the like.

[0115] The noise control device provided by the above-mentioned embodiment of the present disclosure realizes noise control through the combination of the first processing unit and the second processing unit, which effectively expands the available computing power of the noise control system and improves the reliability and robustness of noise control; in addition, since the unit computing power cost of the second processing unit is low and the reusability is strong, the filter parameter update with low real-time requirements realized by the second processing unit helps to reduce the cost of the system; and the signal filtering and output realized by the first processing unit can ensure the high real-time performance and noise reduction effect of the noise control.

[0116] Figure 6 is a schematic diagram of the structure of a noise control device provided by another exemplary embodiment of the present disclosure, such as Figure 6 As shown in the above Figure 5 On the basis of the embodiment shown, it further includes: at least one first sensor 54, at least one second sensor 55;

[0117] At least one first sensor 54, used to collect at least one first reference acoustic signal correspondingly within a first noise reduction period, and send the at least one first reference signal to the first processing unit 51, wherein the at least one first sensor 54 is correspondingly deployed at at least one first position on the vehicle;

[0118] At least one second sensor 55 is used to collect at least one error sound signal corresponding to the first noise reduction period and send the at least one error sound signal to the first processing unit 51, wherein the at least one second sensor 55 is correspondingly deployed at at least one second position in the cabin of the vehicle.

[0119] The first sensor in this embodiment may be a sensor such as an accelerometer sensor, a microphone, etc. that can pick up an audio signal. The second sensor in this embodiment may be a sensor such as a microphone, etc. that can pick up an audio signal.

[0120] In some embodiments, it further includes: a shared memory 56;

[0121] The shared memory 56 provides data reading service and data writing service for the first processing unit 51 and the second processing unit 52;

[0122] The shared memory 56 is used to cache at least one first reference acoustic signal and at least one error acoustic signal written by the first processing unit 51, and to cache the first filter parameter written by the second processing unit.

[0123] It should be pointed out that the modules in the present device can be decomposed and / or reassembled, and such decomposition and / or reassembly should be regarded as equivalent solutions of the present device.

[0124] The exemplary embodiment of the device corresponds to the exemplary method described above, and the relevant contents can be referenced and quoted to each other. The beneficial technical effects corresponding to the exemplary embodiment of the device can refer to the corresponding beneficial technical effects of the exemplary method described above, and will not be repeated here.

[0125] Exemplary Chips

[0126] Figure 7 FIG. 1 is a schematic diagram of a chip structure for noise control provided by another exemplary embodiment of the present disclosure. Figure 7 As shown, the chip for noise control includes: a first processing unit 71 and a second processing unit 72, and the first processing unit 71 and the second processing unit 72 are connected via an inter-core communication link;

[0127] A first processing unit 71 is configured to obtain at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, wherein the at least one first reference sound signal is a noise signal collected from at least one first position on the vehicle, and the at least one error sound signal is a noise residual signal collected from at least one second position in a cabin of the vehicle;

[0128] The first processing unit 71 is used to send at least one first reference acoustic signal and at least one error acoustic signal to the second processing unit 72;

[0129] A second processing unit 72 is configured to update filter parameters based on at least one first reference acoustic signal and at least one error acoustic signal to obtain first filter parameters, and return the first filter parameters to the first processing unit 71;

[0130] The first processing unit 71 is used to filter at least one second reference sound signal corresponding to a second noise reduction period based on the first filter parameters to obtain at least one noise control signal and send it to at least one sound source corresponding to at least one second position so that at least one sound source plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

[0131] The chip provided by the above-mentioned embodiment of the present disclosure realizes noise control by combining the first processing unit and the second processing unit, which effectively expands the available computing power of the noise control system and improves the reliability and robustness of the noise control; in addition, since the unit computing power cost of the second processing unit is low and the reusability is strong, part of the algorithm implementation in the noise control is migrated to the second processing unit. For example, the update of the filter parameters with lower real-time requirements is realized by the second processing unit, which helps to reduce the cost of the noise control system; at the same time, the signal filtering and output are realized by the first processing unit, which can ensure the high real-time performance and noise reduction effect of the noise control.

[0132] Example Vehicles

[0133] Figure 8 FIG. 1 is a schematic diagram of a vehicle with a noise control function provided by another exemplary embodiment of the present disclosure. Figure 8 As shown, the vehicle includes: a vehicle body 81, at least one first sensor 82, at least one second sensor 83 and at least one sound source 84, and a noise control device (including) including a digital signal processor DSP85 and a central processing unit CPU86. Figure 7 Chip;

[0134] At least one first sensor 82 is deployed at at least one first position on the vehicle body; at least one second sensor 83 is deployed at at least one second position on the vehicle body; and at least one sound source is deployed at at least one second position on the vehicle body.

[0135] Among them, at least one first sensor 82 is deployed at at least one first position of the bottom of the vehicle or the engine compartment of the vehicle body; at least one second sensor 83 is deployed at at least one second position in the cabin of the vehicle body; at least one sound source is deployed at a position in the cabin of the vehicle body corresponding to the at least one second position.

[0136] Exemplary Electronic Devices

[0137] Fig. 9 A structural diagram of an electronic device provided in an embodiment of the present disclosure includes multiple processors 11 and a memory 12.

[0138] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 9 to perform desired functions.

[0139] The memory 12 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute one or more computer program instructions to implement the vehicle posture detection method and / or other desired functions of the various embodiments of the present disclosure described above.

[0140] In one example, the electronic device may further include: an input device 13 and an output device 14, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0141] The input device 13 may also include, for example, a keyboard, a mouse, a touch screen, a sound pickup device (such as a microphone array), etc.

[0142] The output device 14 can output various information to the outside, and may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0143] Of course, to simplify, Fig. 9 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0144] Exemplary computer program products and computer-readable storage media

[0145] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the noise control method according to various embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section of this specification.

[0146] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0147] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the noise control method according to various embodiments of the present disclosure described in the above “Exemplary Method” section of this specification.

[0148] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0149] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0150] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0151] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0152] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0153] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0154] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0155] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A noise control method, comprising: The first processing unit acquires at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, wherein the at least one first reference sound signal is a noise signal collected from at least one first position on the vehicle, and the at least one error sound signal is a noise residual signal collected from at least one second position in a cabin of the vehicle; The first processing unit sends the at least one first reference acoustic signal and the at least one error acoustic signal to the second processing unit; The second processing unit updates the filter parameters based on the at least one first reference acoustic signal and the at least one error acoustic signal to obtain first filter parameters, and returns the first filter parameters to the first processing unit; The first processing unit filters at least one second reference sound signal corresponding to a second noise reduction period based on the first filter parameters to obtain at least one noise control signal and sends it to at least one sound source corresponding to the at least one second position so that the at least one sound source plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

2. The method according to claim 1, wherein: The first processing unit includes a digital signal processing unit; The second processing unit includes a central processing unit.

3. The method according to any one of claims 1-2, wherein: The first processing unit sends the at least one first reference acoustic signal and the at least one error acoustic signal to the second processing unit, comprising: The first processing unit sends the at least one first reference acoustic signal and the at least one error acoustic signal to the second processing unit through an inter-core communication mode; Returning the first filter parameter to the first processing unit includes: The first filter parameter is returned to the first processing unit through inter-core communication.

4. The method according to claim 3, wherein: The first processing unit sends the at least one first reference acoustic signal and the at least one error acoustic signal to the second processing unit through an inter-core communication method, including: The first processing unit writes the at least one first reference acoustic signal and the at least one error acoustic signal to a shared memory, and sends a first notification message to the second processing unit, wherein the first notification message carries address information so that the second processing unit reads the at least one first reference acoustic signal and the at least one error acoustic signal from a storage space indicated by the address information in the shared memory after receiving the first notification message.

5. The method according to claim 3, wherein: Returning the first filter parameter to the first processing unit by means of inter-core communication includes: The first filter parameters are written into a first buffer area of ​​a preset double buffer area of ​​a shared memory, and a second notification message is sent to the first processing unit, so that the first processing unit reads the first filter parameters in the first buffer area after receiving the second notification message.

6. The method according to any one of claims 1-2, wherein: The first processing unit obtains at least one first reference acoustic signal and at least one error acoustic signal corresponding to a first noise reduction period, including: The first processing unit receives the at least one first reference acoustic signal correspondingly collected by at least one first sensor in a first noise reduction period, wherein the at least one first sensor is correspondingly deployed at the at least one first position on the vehicle; The first processing unit receives the at least one error sound signal correspondingly collected by at least one second sensor during a first noise reduction period, wherein the at least one second sensor is correspondingly deployed at at least one second position in the cabin of the vehicle.

7. The method according to any one of claims 1-2, wherein: The second processing unit updates the filter parameters based on the at least one first reference acoustic signal and the at least one error acoustic signal to obtain the first filter parameters, including: The second processing unit determines at least one filtering reference signal based on the at least one first reference acoustic signal; Based on the at least one filtering reference signal and the at least one error sound signal, the second filter parameters are updated to obtain the first filter parameters, wherein the second filter parameters are filter parameters used to filter at least one third reference sound signal corresponding to a third noise reduction period, and the third noise reduction period is a noise reduction period adjacent to the first noise reduction period.

8. A noise control device, comprising: A first processing unit and a second processing unit, wherein the first processing unit and the second processing unit are connected via an inter-core communication link; The first processing unit is configured to obtain at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, wherein the at least one first reference sound signal is a noise signal collected from at least one first position on the vehicle, and the at least one error sound signal is a noise residual signal collected from at least one second position in a cabin of the vehicle; The first processing unit is configured to send the at least one first reference acoustic signal and the at least one error acoustic signal to the second processing unit; The second processing unit is configured to update filter parameters based on the at least one first reference acoustic signal and the at least one error acoustic signal to obtain first filter parameters, and return the first filter parameters to the first processing unit; The first processing unit is used to filter at least one second reference sound signal corresponding to a second noise reduction period based on the first filter parameters to obtain at least one noise control signal and send it to at least one sound source corresponding to the at least one second position so that the at least one sound source plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

9. The device according to claim 8, wherein: Also includes: at least one first sensor, at least one second sensor; The at least one first sensor is used to collect the at least one first reference acoustic signal correspondingly within a first noise reduction period, and send the at least one first reference signal to the first processing unit, wherein the at least one first sensor is correspondingly deployed at the at least one first position on the vehicle; The at least one second sensor is used to collect the at least one error sound signal correspondingly during the first noise reduction period and send the at least one error sound signal to the first processing unit, wherein the at least one second sensor is correspondingly deployed at at least one second position in the cabin of the vehicle.

10. The device according to any one of claims 8 to 9, wherein: Also includes: Shared memory; The shared memory provides data reading service and data writing service for the first processing unit and the second processing unit; The shared memory is used to cache at least one first reference acoustic signal and at least one error acoustic signal written by the first processing unit, and to cache the first filter parameter written by the second processing unit.

11. A chip, comprising a first processing unit and a second processing unit, wherein the first processing unit and the second processing unit are connected via an inter-core communication link; The first processing unit is configured to obtain at least one first reference sound signal and at least one error sound signal corresponding to a first noise reduction period, wherein the at least one first reference sound signal is a noise signal collected from at least one first position on the vehicle, and the at least one error sound signal is a noise residual signal collected from at least one second position in a cabin of the vehicle; The first processing unit is configured to send the at least one first reference acoustic signal and the at least one error acoustic signal to the second processing unit; The second processing unit is configured to update filter parameters based on the at least one first reference acoustic signal and the at least one error acoustic signal to obtain first filter parameters, and return the first filter parameters to the first processing unit; The first processing unit is used to filter at least one second reference sound signal corresponding to a second noise reduction period based on the first filter parameters to obtain at least one noise control signal and send it to at least one sound source corresponding to the at least one second position so that the at least one sound source plays the corresponding noise control signal. The second noise reduction period is a noise reduction period adjacent to the first noise reduction period.

12. A vehicle, comprising: A vehicle body, at least one first sensor, at least one second sensor and at least one sound source, and the noise control device according to any one of claims 8 to 10 or the chip according to claim 11; The at least one first sensor is disposed at the at least one first position on the vehicle body; The at least one second sensor is disposed at the at least one second position on the vehicle body; The at least one sound source is disposed at the at least one second position on the vehicle body.

13. The vehicle of claim 12, wherein: The at least one first sensor is disposed at at least one first position of a vehicle bottom or an engine compartment of the vehicle body; The at least one second sensor is disposed at at least one second position in the cabin of the vehicle body; The at least one sound source is deployed at a position in the cabin of the vehicle body corresponding to the at least one second position.

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