Active noise control device and vehicle

Abstract

To provide an active noise controller capable of excellently reducing noise and a vehicle.SOLUTION: An active noise controller 10 comprises: a determination unit 26 for determining whether abnormalities occur in acceleration sensors on the basis of direct-current components of reference signals rx-rz acquired by the acceleration sensors 18 mounted on a vehicle 12; and a control unit 28 that stops generation of control signals u on the basis of reference signals acquired by the acceleration sensor in which the abnormality is determined to occur and stops update of a filter coefficient W in adaptive filters 36 for performing filtering processing on the reference signals acquired by the acceleration sensor in which no abnormality is determined to occur, in the case that the determination unit determines that the abnormality occurs in any of a plurality of the acceleration sensors.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an active noise control device and a vehicle. [Background technology]

[0002] Patent Document 1 discloses an active noise suppression device. The active noise suppression device disclosed in Patent Document 1 includes a sound generating device disposed in a space to be suppressed, a sound detection sensor disposed in the space to be suppressed, and a vibration sensor provided at each of the excitation sources of a plurality of vibrations propagating in the space to be suppressed. The active noise suppression device of Patent Document 1 further includes a vibration signal generating means for generating a vibration signal having an opposite phase to the sound detected by the sound detection sensor based on output signals from the plurality of vibration sensors, and a driving means for driving the sound generating device based on the vibration signal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-59688 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, when an abnormality occurs in any of the multiple vibration sensors, noise cannot be reduced effectively.

[0005] An object of the present invention is to provide an active noise control system and a vehicle that can effectively reduce noise. [Means for solving the problem]

[0006] An active noise control device according to one aspect of the present invention is an active noise control device that outputs a canceling sound based on a control signal from an actuator in order to reduce noise inside a vehicle cabin, and includes an adaptive filter that generates the control signal by performing a filtering process on a reference signal acquired by an acceleration sensor attached to the vehicle, a filter coefficient update unit that updates a filter coefficient in the adaptive filter based on the reference signal and an error signal obtained by detecting by a microphone a residual noise due to interference between the noise and the canceling sound, a determination unit that determines whether or not an abnormality has occurred in the acceleration sensor based on a DC component of the reference signal, and a control unit that, when the determination unit determines that an abnormality has occurred in any of a plurality of the acceleration sensors, stops generating the control signal based on the reference signal acquired by the acceleration sensor determined to have an abnormality, and stops updating the filter coefficient in the adaptive filter that performs the filtering process on the reference signal acquired by the acceleration sensor determined to have no abnormality.

[0007] A vehicle according to another aspect of the present invention includes an active noise control device as described above. Effect of the Invention

[0008] According to the present invention, it is possible to provide an active noise control device and a vehicle that can effectively reduce noise. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an overview of active noise control. [Diagram 2] 1 is a block diagram showing a portion of a vehicle equipped with an active noise control device according to an embodiment; [Diagram 3] FIG. 4 illustrates an example of the configuration of a determination unit. [Figure 4] FIG. 2 is a diagram illustrating an example of a coordinate system. [Diagram 5] 4 is a flowchart illustrating an example of the operation of the active noise control device according to one embodiment. [Figure 6] 4 is a flowchart illustrating an example of the operation of the active noise control device according to one embodiment. [Figure 7] 4 is a flowchart illustrating an example of the operation of the active noise control device according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An active noise control device and a vehicle according to the present invention will be described in detail below with reference to preferred embodiments and the accompanying drawings.

[0011] [One embodiment] An active noise control device and a vehicle according to an embodiment will be described with reference to Figures 1 to 7. Figure 1 is a diagram showing an overview of active noise control.

[0012] The active noise control system 10 causes an actuator 16 to output a canceling sound for reducing noise, i.e., vibration noise, within a passenger compartment 14 of a vehicle 12.

[0013] Noises inside the vehicle cabin 14 may include, for example, road noise. Road noise is noise that is transmitted to passengers inside the vehicle cabin 14 when the wheels vibrate due to the force they receive from the road surface and the wheel vibrations are transmitted to the vehicle body via the suspension.

[0014] The vehicle 12 is equipped with a plurality of vibration sensors, i.e., a plurality of acceleration sensors 18A-18D, that detect vibrations of the vehicle 12. Reference numeral 18 will be used to generally describe the acceleration sensors, and reference numerals 18A-18D will be used to describe each individual acceleration sensor. A signal r detected by the acceleration sensors 18A-18D, i.e., a signal indicative of vibration, is supplied to the active noise control device 10.

[0015] A microphone 20 is further provided in the vehicle compartment 14. The microphone 20 detects residual noise (cancellation error noise) resulting from interference between the canceling sound output from the actuator 16 and the noise. The residual noise detected by the microphone 20, i.e., the error signal e, is supplied to the active noise control device 10.

[0016] The active noise control device 10 generates a control signal u for outputting a canceling sound from the actuator 16, based on the signal r detected by the acceleration sensor 18 and the error signal e detected by the microphone 20. More specifically, the active noise control device 10 generates a control signal u such that the error signal e detected by the microphone 20 is minimized. Since the actuator 16 outputs a canceling sound based on the control signal u such that the error signal e detected by the microphone 20 is minimized, the noise inside the vehicle compartment 14 can be effectively cancelled out by the canceling sound. In this way, the active noise control device 10 can reduce the noise transmitted to the occupants inside the vehicle compartment 14.

[0017] However, an abnormality may occur in any of the multiple acceleration sensors 18. Examples of the abnormality in the acceleration sensor 18 include the falling off of the acceleration sensor 18 and abnormal characteristics of the acceleration sensor 18. The falling off of the acceleration sensor 18 may occur, for example, when the part to which the housing of the acceleration sensor 18 is attached deteriorates with age. The abnormal characteristics of the acceleration sensor 18 may occur, for example, when the detection unit of the acceleration sensor 18 deteriorates due to vibration fatigue. If a cancellation sound is simply generated using the signal r acquired by an acceleration sensor 18 having an abnormality, the noise inside the vehicle compartment 14 cannot necessarily be cancelled out well. As a result of extensive research, the present inventors have come up with the following active noise control device 10.

[0018] FIG. 2 is a block diagram showing a part of a vehicle equipped with an active noise control device according to this embodiment.

[0019] 2, the active noise control device 10 includes a determination section 26, a control section 28, a storage section 30, an output section 32, filter sections 34A to 34D, and a calculation section 44. When describing the filter sections in general, reference numeral 34 will be used, and when describing each of the filter sections, reference numerals 34A to 34D will be used.

[0020] The active noise control device 10 is provided with a calculation device (arithmetic processing device) (not shown). The calculation device may be configured with a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), but is not limited to this. A direct digital synthesizer (DDS), a digitally controlled oscillator (DCO), etc. may be included in the calculation device. In addition, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), etc. may be included in the calculation device.

[0021] As described above, the active noise control device 10 is provided with the memory unit 30. The memory unit 30 may be composed of a volatile memory (not shown) and a non-volatile memory (not shown). The volatile memory may be, for example, a RAM. The non-volatile memory may be, for example, a ROM, a flash memory. Data, etc. may be stored in, for example, the volatile memory. Programs, tables, maps, etc. may be stored in, for example, the non-volatile memory.

[0022] The determination unit 26, the control unit 28, the filter unit 34, and the calculation unit 44 can be realized by a calculation device executing a program stored in the storage unit 30. The output unit 32 can be configured by an output interface circuit or the like.

[0023] The vehicle 12 may be equipped with acceleration sensors 18A to 18D. Although four acceleration sensors 18 are illustrated in FIG. 2, the number of acceleration sensors 18 is not limited to four. For example, a three-axis acceleration sensor may be used as the acceleration sensor 18. The three axes are the X-axis, the Y-axis, and the Z-axis. Vibrations in the X-axis direction detected by the acceleration sensor 18 are supplied to the active noise control device 10 as a reference signal rx. Vibrations in the Y-axis direction detected by the acceleration sensor 18 are supplied to the active noise control device 10 as a reference signal ry. Vibrations in the Z-axis direction detected by the acceleration sensor 18 are supplied to the active noise control device 10 as a reference signal rz. When describing reference signals in general, the symbol r is used, and when describing individual reference signals, the symbols rx, ry, and rz are used.

[0024] As described above, the microphone 20 is provided inside the vehicle interior 14 (see FIG. 1) for detecting the residual noise caused by the interference between the noise and the canceling sound, that is, the error signal e.

[0025] As described above, the vehicle interior 14 (see FIG. 1) is provided with the actuator 16 that outputs a canceling sound based on the control signal u. The actuator 16 may be, for example, a speaker.

[0026] The filter unit 34 includes adaptive filters 36X, 36Y, and 36Z, acoustic characteristic filters 38X, 38Y, and 38Z, filter coefficient update units 40X, 40Y, and 40Z, and a calculation unit 42. When describing adaptive filters in general, reference symbol 36 is used, and when describing individual adaptive filters, reference symbols 36X, 36Y, and 36Z are used. When describing acoustic characteristic filters in general, reference symbol 38 is used, and when describing individual acoustic characteristic filters, reference symbols 38X, 38Y, and 38Z are used. When describing filter coefficient update units in general, reference symbol 40 is used, and when describing individual filter coefficient update units, reference symbols 40X, 40Y, and 40Z are used.

[0027] The adaptive filter 36X generates a control signal u0x by performing a filtering process on the reference signal rx. The adaptive filter 36Y generates a control signal u0y by performing a filtering process on the reference signal ry. The adaptive filter 36Z generates a control signal u0z by performing a filtering process on the reference signal rz. When describing the control signal in general, the symbol u0 is used, and when describing each control signal, the symbols u0x, u0y, and u0z are used. As the adaptive filter 36, for example, a FIR (Finite Impulse Response) filter or the like can be used, but is not limited thereto. The filter coefficients of the adaptive filters 36X, 36Y, and 36Z are updated by filter coefficient update units 40X, 40Y, and 40Z as described later. The FIR filter generates the control signal u0 by performing a convolution operation on the reference signal r.

[0028] The acoustic characteristics filter 38X corrects the reference signal rx by performing a filtering process on the reference signal rx according to the acoustic characteristics (transfer characteristics) from the actuator 16 to the microphone 20. The acoustic characteristics filter 38Y corrects the reference signal ry by performing a filtering process on the reference signal ry according to the acoustic characteristics from the actuator 16 to the microphone 20. The acoustic characteristics filter 38Z corrects the reference signal rz by performing a filtering process on the reference signal rz according to the acoustic characteristics from the actuator 16 to the microphone 20. The acoustic characteristics from the actuator 16 to the microphone 20, i.e., the transfer characteristics C^, are acquired in advance.

[0029] The filter coefficient update unit 40X updates the filter coefficient W in the adaptive filter 36X based on the error signal e obtained by detecting the residual noise with the microphone 20 and the reference signal rx corrected by the acoustic characteristic filter 38X. More specifically, the filter coefficient update unit 40X updates the filter coefficient W in the adaptive filter 36X so that the error signal e is minimized. The filter coefficient update unit 40Y updates the filter coefficient W in the adaptive filter 36Y based on the error signal e and the reference signal ry corrected by the acoustic characteristic filter 38Y. More specifically, the filter coefficient update unit 40Y updates the filter coefficient W in the adaptive filter 36Y so that the error signal e is minimized. The filter coefficient update unit 40Z updates the filter coefficient W in the adaptive filter 36Z based on the error signal e and the reference signal rz corrected by the acoustic characteristic filter 38Z. More specifically, the filter coefficient update unit 40Z updates the filter coefficient W in the adaptive filter 36Z so that the error signal e is minimized. In updating the filter coefficient W, for example, a Filtered-X LMS algorithm may be used, but is not limited to this.

[0030] The filter unit 34 further includes a calculation unit 42. The control signals u0x, u0y, u0z output from the adaptive filters 36X, 36Y, 36Z are input to the calculation unit 42. The calculation unit 42 adds the control signals u0x, u0y, u0z supplied from the adaptive filters 36X, 36Y, 36Z. The calculation unit 42, i.e., an adder, outputs a control signal u0 generated by adding the multiple control signals u0x, u0y, u0z.

[0031] The control signal u0 output from each of the filter units 34A to 34D is input to the calculation unit 44. The calculation unit 44 adds up the control signals u0 supplied from each of the filter units 34A to 34D. The calculation unit 44, i.e., the adder, supplies the control signal u generated by adding up the multiple control signals u0 to the actuator 16 via the power amplifier 15.

[0032] The determination unit (abnormality determination unit) 26 determines whether or not an abnormality occurs in the acceleration sensor 18 based on the DC components of the reference signals rx, ry, and rz. The reason why whether or not an abnormality occurs in the acceleration sensor 18 is determined based on the DC components of the reference signal r is as follows. That is, since the AC components contain many vibration components that occur only in the part where the acceleration sensor 18 is attached, it is not easy to determine whether or not an abnormality occurs in the acceleration sensor 18 based on the AC components of the reference signal r. On the other hand, since the movement of the vehicle 12 is accurately reflected in the DC components, it is relatively easy to determine whether or not an abnormality occurs in the acceleration sensor 18 based on the DC components of the reference signal r. In addition, the gravitational acceleration, which is an important factor, that is, the acceleration in the vertical direction, is also a DC component. For these reasons, in this embodiment, whether or not an abnormality occurs in the acceleration sensor 18 is determined based on the DC components of the reference signal r.

[0033] FIG. 3 is a diagram showing an example of the configuration of the determination unit. As shown in FIG. 3, the determination unit 26 includes a first calculation unit 46, a second calculation unit 48, a calculation unit 62, a detection abnormality determination unit 64, and an installation abnormality determination unit 70. In FIG. 3, only one first calculation unit 46 is shown, but the first calculation unit 46 is provided for each of the multiple acceleration sensors 18. In FIG. 3, only one calculation unit 62 is shown, but the calculation unit 62 is also provided for each of the multiple acceleration sensors 18. In FIG. 3, only one detection abnormality determination unit 64 is shown, but the detection abnormality determination unit 64 is also provided for each of the multiple acceleration sensors 18. In FIG. 3, only one installation abnormality determination unit 70 is shown, but the installation abnormality determination unit 70 is also provided for each of the multiple acceleration sensors 18.

[0034] The first calculation section 46 includes a DC component extraction section 50, a coordinate conversion section 52, and a jerk calculation section .

[0035] As described above, the vibration in the X-axis direction detected by the acceleration sensor 18 is supplied to the determination unit 26 as a reference signal rx. The DC component extraction unit 50 may extract a DC component from the reference signal rx and supply the extracted DC component to the coordinate conversion unit 52. As described above, the vibration in the Y-axis direction detected by the acceleration sensor 18 is supplied to the determination unit 26 as a reference signal ry. The DC component extraction unit 50 extracts a DC component from the reference signal ry and supplies the extracted DC component to the coordinate conversion unit 52. As described above, the vibration in the Z-axis direction detected by the acceleration sensor 18 is supplied to the determination unit 26 as a reference signal rz. The DC component extraction unit 50 extracts a DC component from the reference signal rz and supplies the extracted DC component to the coordinate conversion unit 52. In this way, the DC component extraction section 50 can extract DC components from the reference signals r for each of the three axes, that is, the X-axis, Y-axis, and Z-axis, and supply each of the extracted DC components to the coordinate conversion section 52.

[0036] The coordinate conversion unit 52 can perform coordinate conversion processing. The X-axis, Y-axis, and Z-axis of the acceleration sensor 18 do not necessarily match the X-axis, Y-axis, and Z-axis of the vehicle 12. For this reason, the coordinate conversion unit 52 performs coordinate conversion processing so that the magnitude of the DC component of the reference signal r for each of the three axes supplied from the DC component extraction unit 50 corresponds to the coordinate system of the vehicle 12.

[0037] The coordinate conversion process can be performed, for example, as follows. Fig. 4 is a diagram showing an example of a coordinate system. In Fig. 4, x, y, and z indicate the coordinate system in the acceleration sensor 18, and X, Y, and Z in Fig. 4 indicate the coordinate system in the vehicle 12.

[0038] The DC components of the reference signals rx, ry, rz supplied from the acceleration sensor 18, i.e., the acceleration in the coordinate system of the acceleration sensor 18, are defined as asx, asy, and asz. asx is the acceleration in the X-axis direction of the acceleration sensor 18, asy is the acceleration in the Y-axis direction of the acceleration sensor 18, and asz is the acceleration in the Z-axis direction of the acceleration sensor 18. The DC components of the reference signals rx, ry, rz when converted into the coordinate system of the vehicle 12, i.e., the acceleration in the coordinate system of the vehicle 12, are defined as avx, avy, and avz. avx is the acceleration in the X-axis direction of the vehicle 12, avy is the acceleration in the Y-axis direction of the vehicle 12, and avz is the acceleration in the Z-axis direction of the vehicle 12. When converting the accelerations asx, asy, and asz in the coordinate system of the acceleration sensor 18 into the accelerations avx, avy, and avz in the coordinate system of the vehicle 12, the following matrix calculation may be performed. Av indicates the acceleration in the coordinate system of the vehicle 12. As represents the acceleration in the coordinate system of the acceleration sensor 18. Rsv represents a coordinate transformation matrix.

[0039]

number

[0040]

number

[0041] The coordinate transformation matrix Rsv can be expressed as follows: Rx is a matrix for performing X-axis rotation, Ry is a matrix for performing Y-axis rotation, and Rz is a matrix for performing Z-axis rotation.

[0042]

number

[0043]

number

[0044]

number

[0045]

number

[0046] In this way, the accelerations avx, avy, and avz corresponding to the coordinate system of the vehicle 12 are calculated by the coordinate conversion unit 52. The coordinate conversion unit 52 supplies a signal indicating the acceleration corresponding to the traveling direction of the vehicle 12 to the jerk calculation unit 54. Here, an example will be described in which the X-axis direction in the coordinate system of the vehicle 12 is the traveling direction of the vehicle 12. The coordinate conversion unit 52 supplies a signal indicating the acceleration avx in the traveling direction of the vehicle 12 to the jerk calculation unit 54.

[0047] The coordinate conversion unit 52 supplies a signal indicating the acceleration in the up-down direction of the vehicle 12, i.e., a signal indicating the acceleration in the vertical direction, to the mounting abnormality determination unit 70. That is, the vertical component of the DC component of the reference signal r is supplied to the mounting abnormality determination unit 70. Here, a case will be described as an example in which the Z-axis direction in the coordinate system of the vehicle 12 is the up-down direction of the vehicle 12. The coordinate conversion unit 52 supplies a signal indicating the acceleration avz in the up-down direction of the vehicle 12 to the mounting abnormality determination unit 70.

[0048] The jerk calculation unit 54 calculates a jerk jvx in the traveling direction of the vehicle 12 based on the signal supplied from the coordinate conversion unit 52, i.e., the acceleration avx in the traveling direction of the vehicle 12. The jerk jvx can be obtained by calculating a change in acceleration per unit time.

[0049] The previously acquired acceleration is avxb, the currently acquired acceleration is avxn, and the time from the timing when the previously acquired acceleration avxb is acquired to the timing when the currently acquired acceleration avxn is Δt1. The jerk jvx is calculated by the following formula (1).

[0050] jvx=(avxn-avxb) / Δt1 ···(1)

[0051] In this way, the first calculation unit 46 can calculate the jerk jvx in the traveling direction of the vehicle 12 based on the signal acquired by the acceleration sensor 18, more specifically, based on the DC component of the reference signal r.

[0052] The second calculation unit 48 includes a velocity signal acquisition unit 56, an acceleration calculation unit 58, and a jerk calculation unit 60.

[0053] The speed signal acquisition unit 56 acquires a signal supplied from the speed sensor 19 provided in the vehicle 12, that is, a signal indicating the speed v.

[0054] The acceleration calculation unit 58 calculates the acceleration a of the vehicle 12, i.e., the acceleration in the traveling direction of the vehicle 12, based on the signal acquired by the speed signal acquisition unit 56, i.e., the signal indicating the speed v. The acceleration a can be acquired by calculating the change in speed per unit time.

[0055] The speed previously acquired by the speed signal acquisition unit 56 is vb, the speed currently acquired by the speed signal acquisition unit 56 is vn, and the time from the timing when the previous speed vb was acquired to the timing when the current speed vn is acquired is Δt2. Then, the acceleration a can be calculated by the following formula (2).

[0056] a = (vn - vb) / Δt2 (2)

[0057] The jerk calculation unit 60 calculates the jerk j of the vehicle 12, i.e., the jerk in the traveling direction of the vehicle 12, based on the acceleration a calculated by the acceleration calculation unit 58. The jerk j can be obtained by calculating the change in acceleration per unit time.

[0058] The acceleration previously calculated by the acceleration calculation unit 58 is ab, the acceleration currently calculated by the acceleration calculation unit 58 is an, and the time from the timing when the previous acceleration ab was acquired to the timing when the current acceleration an is acquired is Δt3. Then, the jerk j can be obtained by the following formula (3).

[0059] j = (an-ab) / Δt3 (3)

[0060] In this manner, the second calculation unit 48 calculates the jerk j in the traveling direction of the vehicle 12 based on the signal acquired by the speed sensor 19 provided on the vehicle 12.

[0061] The calculation unit 62 calculates the difference Δj between the jerk jvx calculated by the first calculation unit 46 and the jerk j calculated by the second calculation unit 48. The difference Δj is expressed by the following equation (4).

[0062] Δj=|jvx-j| (4)

[0063] When the difference Δj between the jerk jvx calculated by the first calculation unit 46 and the jerk j calculated by the second calculation unit 48 is equal to or greater than the difference threshold DTH, the detection abnormality determination unit 64 determines that the acceleration sensor 18 is abnormal, i.e., that a detection abnormality has occurred. More specifically, when the difference Δj is equal to or greater than the difference threshold DTH and the state in which the difference Δj is equal to or greater than the difference threshold DTH continues for equal to or greater than the time threshold TTH, the detection abnormality determination unit 64 determines that the acceleration sensor 18 is abnormal, i.e., that a detection abnormality has occurred. In this embodiment, the reason why whether or not an abnormality has occurred in the acceleration sensor 18 is determined based on the jerk, not the acceleration, is as follows. That is, when the vehicle 12 is provided with an acceleration sensor 18 with a relatively low detection accuracy of acceleration, it is not easy to determine whether or not an abnormality has occurred in the acceleration sensor 18 based on the acceleration detected by the acceleration sensor 18. In contrast, when determining whether or not an abnormality has occurred in the acceleration sensor 18 based on the jerk, even if the detection accuracy of the acceleration sensor 18 is relatively low, it can be determined whether or not an abnormality has occurred in the acceleration sensor 18. For this reason, in this embodiment, whether or not an abnormality has occurred in the acceleration sensor 18 is determined based on the jerk, not the acceleration. The determination result by the detection abnormality determination unit 64 is supplied to the control unit 28.

[0064] As described above, the vertical component of the DC components of the reference signal r is supplied to the mounting abnormality determination unit 70. The positive / negative sign of the value of the vertical component of the DC components of the reference signal r differs between when the acceleration sensor 18 is normally mounted on the vehicle 12 and when the acceleration sensor 18 is not normally mounted on the vehicle 12. Here, a case will be described as an example in which the vertical component of the DC components of the reference signal r is negative, which indicates normal, and the vertical component of the DC components of the reference signal r is positive, which indicates abnormal.

[0065] If there is an installation error, i.e. if the acceleration sensor 18 is installed with the front and back sides reversed, a sound in phase with the noise will be output from the actuator 16 as a canceling sound, which may result in an increase in noise.

[0066] The mounting abnormality determination unit 70 determines whether or not an abnormality, i.e., mounting abnormality, has occurred in the acceleration sensor 18 based on the positive / negative sign of the vertical component of the DC component of the reference signal r. If the vertical component of the DC component of the reference signal r is negative, the mounting abnormality determination unit 70 determines that an abnormality, i.e., mounting abnormality has not occurred in the acceleration sensor 18. On the other hand, if the vertical component of the DC component of the reference signal r is positive, the mounting abnormality determination unit 70 determines that an abnormality, i.e., mounting abnormality has occurred in the acceleration sensor 18.

[0067] In the above, the case where the vertical component of the DC component of the reference signal r is negative is normal, and the vertical component of the DC component of the reference signal r is positive is abnormal, but the present invention is not limited to this. The vertical component of the DC component of the reference signal r may be positive and the vertical component of the DC component of the reference signal r may be negative. In such a case, when the vertical component of the DC component of the reference signal r is positive, the mounting abnormality determination unit 70 determines that the acceleration sensor 18 does not have a mounting abnormality. On the other hand, when the vertical component of the DC component of the reference signal r is negative, the mounting abnormality determination unit 70 determines that the acceleration sensor 18 has a mounting abnormality.

[0068] When the determination unit 26 determines that an abnormality occurs in any of the multiple acceleration sensors 18, the control unit 28 stops generating the control signal u0 based on the reference signal r acquired by the acceleration sensor 18 determined to have an abnormality. The reason for stopping the generation of the control signal u0 based on the reference signal r acquired by the acceleration sensor 18 determined to have an abnormality is as follows. That is, if the actuator 16 is driven using the control signal u0 based on the reference signal r acquired by the acceleration sensor 18 determined to have an abnormality, the actuator 16 will be driven using an inappropriate control signal u0. If the actuator 16 is driven using an inappropriate control signal u0, noise cannot be reduced well. For these reasons, in this embodiment, the generation of the control signal u0 based on the reference signal r acquired by the acceleration sensor 18 determined to have an abnormality is stopped.

[0069] If the determining unit 26 determines that an abnormality has occurred in any of the multiple acceleration sensors 18, the control unit 28 further performs the following control. That is, in such a case, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 that performs a filtering process on the reference signal r acquired by the acceleration sensor 18 that has been determined to have no abnormality. The reason for stopping the updating of the filter coefficient W in the adaptive filter 36 that performs a filtering process on the reference signal r acquired by the acceleration sensor 18 that has been determined to have no abnormality is as follows. That is, in the active noise control device 10 that performs control using the signal r detected by the multiple acceleration sensors 18, parameters are adjusted so that a balanced noise reduction effect is obtained in each seat 13. For this reason, if the signal r acquired by any of the acceleration sensors 18 is missing, this balance is lost, and a phenomenon may occur in which noise is sufficiently reduced in one seat 13 while noise increases in other seats 13. For this reason, in such a case, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 that performs filtering on the reference signal r acquired by the acceleration sensor 18 that is determined to be free of abnormality.

[0070] When the control unit 28 determines that an abnormality has occurred in the acceleration sensor 18, the control unit 28 stores information indicating that an abnormality has occurred in the acceleration sensor 18 in the storage unit 30. The information indicating that an abnormality has occurred in the acceleration sensor 18 can be used, for example, during failure diagnosis.

[0071] The output unit 32 is for notifying the fault diagnostic machine 66 of information indicating that an abnormality has occurred in the acceleration sensor 18. When the fault diagnostic machine 66 is connected to the vehicle 12, the control unit 28 supplies information indicating that an abnormality has occurred in the acceleration sensor 18 to the fault diagnostic machine 66 via the output unit 32. Since the information indicating that an abnormality has occurred in the acceleration sensor 18 is supplied to the fault diagnostic machine 66, the fault diagnostic machine 66 can perform an accurate fault diagnosis.

[0072] When the control unit 28 determines that an abnormality has occurred in the acceleration sensor 18, it outputs information indicating that an abnormality has occurred in the acceleration sensor 18 to an information display 68 provided in the vehicle 12. The information display 68 can display information indicating that an abnormality has occurred in the acceleration sensor 18. Since the information indicating that an abnormality has occurred in the acceleration sensor 18 can be displayed on the information display 68, the user can know that an abnormality has occurred in the acceleration sensor 18 based on the display on the information display 68.

[0073] Next, an example of the operation of the active noise control device according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the operation of the active noise control device according to this embodiment.

[0074] First, in step S1, the determination unit 26 determines whether or not an abnormality occurs in the acceleration sensor 18A. If an abnormality occurs in the acceleration sensor 18A (YES in step S1), the process proceeds to step S5. If an abnormality does not occur in the acceleration sensor 18A (NO in step S1), the process proceeds to step S2.

[0075] In step S2, the determination unit 26 determines whether or not an abnormality has occurred in the acceleration sensor 18B. If an abnormality has occurred in the acceleration sensor 18B (YES in step S2), the process proceeds to step S6. If an abnormality has not occurred in the acceleration sensor 18B (NO in step S2), the process proceeds to step S3.

[0076] In step S3, the determination unit 26 determines whether or not an abnormality has occurred in the acceleration sensor 18C. If an abnormality has occurred in the acceleration sensor 18C (YES in step S3), the process proceeds to step S7. If an abnormality has not occurred in the acceleration sensor 18C (NO in step S3), the process proceeds to step S4.

[0077] In step S4, the determination unit 26 determines whether or not an abnormality occurs in the acceleration sensor 18D. If an abnormality occurs in the acceleration sensor 18D (YES in step S4), the process proceeds to step S8. If an abnormality does not occur in the acceleration sensor 18D (NO in step S4), the process shown in FIG. 5 is completed.

[0078] In step S5, the control unit 28 stops generating the control signal u0 based on the reference signal r acquired by the acceleration sensor 18A, and then proceeds to step S9.

[0079] In step S6, the control unit 28 stops generating the control signal u0 based on the reference signal r acquired by the acceleration sensor 18B, and then proceeds to step S10.

[0080] In step S7, the control unit 28 stops generating the control signal u0 based on the reference signal r acquired by the acceleration sensor 18C, and then proceeds to step S11.

[0081] In step S8, the control unit 28 stops generating the control signal u0 based on the reference signal r acquired by the acceleration sensor 18D, and then proceeds to step S12.

[0082] In step S9, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 that performs filtering processing on the reference signal r acquired by the acceleration sensors 18B to 18D. That is, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 provided in the filter units 34B to 34D. When step S9 is completed, the processing shown in FIG. 5 is completed.

[0083] In step S10, control unit 28 stops updating the filter coefficient W in adaptive filter 36 that performs filtering processing on reference signal r acquired by acceleration sensors 18A, 18C, and 18D. That is, control unit 28 stops updating the filter coefficient W in adaptive filter 36 provided in filter units 34A, 34C, and 34D. When step S10 is completed, the processing shown in FIG. 5 is completed.

[0084] In step S11, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 that performs a filtering process on the reference signal r acquired by the acceleration sensors 18A, 18B, and 18D. That is, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 provided in the filter units 34A, 34B, and 34D. When step S11 is completed, the process shown in FIG. 5 is completed.

[0085] In step S12, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 that performs filtering processing on the reference signal r acquired by the acceleration sensors 18A to 18C. That is, the control unit 28 stops updating the filter coefficient W in the adaptive filter 36 provided in the filter units 34A to 34C. When step S12 is completed, the processing shown in FIG. 5 is completed.

[0086] Next, an example of the operation of the active noise control device according to this embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart showing an example of the operation of the active noise control device according to this embodiment.

[0087] In step S21, the first calculation unit 46 calculates the jerk jvx in the traveling direction of the vehicle 12 based on the DC component of the reference signal r.

[0088] In step S22, the second calculation unit 48 calculates a jerk j in the traveling direction of the vehicle 12 based on a signal acquired by the speed sensor 19 provided in the vehicle 12, that is, a signal indicating the speed v.

[0089] In step S23, the determination unit 26 determines whether the difference Δj between the jerk jvx calculated by the first calculation unit 46 and the jerk j calculated by the second calculation unit 48 is equal to or greater than the difference threshold DTH. If the difference Δj is equal to or greater than the difference threshold DTH (YES in step S23), the process proceeds to step S24. If the difference Δj is less than the difference threshold DTH (NO in step S23), the process proceeds to step S25.

[0090] In step S24, the determination unit 26 determines that an abnormality has occurred in the acceleration sensor 18.

[0091] In step S25, the determination unit 26 determines that no abnormality has occurred in the acceleration sensor 18. In this manner, the process shown in FIG.

[0092] Next, an example of the operation of the active noise control device according to this embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of the operation of the active noise control device according to this embodiment. Here, an example will be described in which the case where the vertical component of the DC components of the reference signal r is negative is normal, and the case where the vertical component of the DC components of the reference signal r is positive is abnormal.

[0093] In step S31, the determination unit 26 determines whether the value of the vertical component of the DC components of the reference signal r is negative. If the value of the vertical component of the DC components of the reference signal r is negative (YES in step S31), the process proceeds to step S32. If the value of the vertical component of the DC components of the reference signal r is positive (NO in step S31), the process proceeds to step S33.

[0094] In step S32, the determination unit 26 determines that no abnormality has occurred in the acceleration sensor 18.

[0095] In step S33, the determination unit 26 determines that an abnormality has occurred in the acceleration sensor 18. In this manner, the process shown in FIG.

[0096] As described above, in this embodiment, when the determination unit 26 determines that an abnormality has occurred in any of the multiple acceleration sensors 18, the generation of the control signal u0 based on the reference signal r acquired by the acceleration sensor 18 determined to have an abnormality is stopped. Also, in this embodiment, the update of the filter coefficient W in the adaptive filter 36 that performs a filtering process on the reference signal r acquired by the acceleration sensor 18 determined to have no abnormality is stopped. Therefore, according to this embodiment, even if an abnormality has occurred in any of the multiple acceleration sensors 18, it is possible to suppress the adverse effects of the abnormal acceleration sensor 18, and ultimately to provide an active noise control device 10 that can effectively reduce noise.

[0097] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present invention.

[0098] The above embodiment can be summarized as follows.

[0099] The active noise control device (10) is an active noise control device that outputs a canceling sound based on a control signal (u) from an actuator (16) in order to reduce noise in a cabin (14) of a vehicle (12), and includes adaptive filters (36X to 36Z) that generate the control signal by performing a filtering process on reference signals (rx to rz) acquired by acceleration sensors (18A to 18D) attached to the vehicle, and updates a filter coefficient (W) in the adaptive filter based on an error signal (e) obtained by detecting residual noise due to interference between the noise and the canceling sound by a microphone (20) and the reference signal. The noise control device includes a filter coefficient update unit (40X-40Z) that updates the filter coefficient of the acceleration sensor based on a DC component of the reference signal, a determination unit (26) that determines whether or not an abnormality has occurred in the acceleration sensor based on a DC component of the reference signal, and a control unit (28) that, when it is determined by the determination unit that an abnormality has occurred in any of the plurality of acceleration sensors, stops generating the control signal based on the reference signal acquired by the acceleration sensor determined to have an abnormality and stops updating the filter coefficient of the adaptive filter that performs the filtering process on the reference signal acquired by the acceleration sensor determined not to have an abnormality. With this configuration, even if an abnormality has occurred in any of the plurality of acceleration sensors, it is possible to provide an active noise control device that can suppress adverse effects caused by the acceleration sensor having an abnormality and can effectively reduce noise.

[0100] The vehicle may further include a first calculation unit (46) that calculates a jerk (jvx) in the traveling direction of the vehicle based on the DC component of the reference signal, and a second calculation unit (48) that calculates a jerk (j) in the traveling direction of the vehicle based on a signal (v) acquired by a speed sensor (19) provided on the vehicle, and the determination unit may determine that an abnormality has occurred in the acceleration sensor when a difference (Δj) between the jerk calculated by the first calculation unit and the jerk calculated by the second calculation unit is equal to or greater than a difference threshold (DTH). According to this configuration, since the determination is made using the jerk, even if the vehicle is provided with an acceleration sensor with a relatively low acceleration detection accuracy, it is possible to satisfactorily determine whether or not an abnormality has occurred in the acceleration sensor.

[0101] The positive and negative signs of the vertical component of the DC component of the reference signal may be different between when the acceleration sensor is normally attached to the vehicle and when the acceleration sensor is not normally attached to the vehicle, and the determination unit may determine whether or not an abnormality has occurred in the acceleration sensor based on the positive and negative signs of the vertical component. With this configuration, even if an abnormality such as an acceleration sensor being attached with the front and back sides reversed, i.e., an installation abnormality, occurs, the abnormality can be accurately determined.

[0102] When the control unit determines that an abnormality has occurred in the acceleration sensor, the control unit may store information indicating that an abnormality has occurred in the acceleration sensor in a storage unit (30). According to this configuration, the information indicating that an abnormality has occurred in the acceleration sensor can be used for fault diagnosis, etc.

[0103] The vehicle may further include an output section (32) for transmitting information indicating that an abnormality has occurred in the acceleration sensor to a fault diagnosis device (66). With this configuration, information indicating that an abnormality has occurred in the acceleration sensor can be supplied to the fault diagnosis device, so that an accurate fault diagnosis can be performed by the fault diagnosis device.

[0104] When the control unit determines that an abnormality has occurred in the acceleration sensor, the control unit may output information indicating that an abnormality has occurred in the acceleration sensor to an information display (68) provided in the vehicle. According to this configuration, since the information indicating that an abnormality has occurred in the acceleration sensor can be displayed on the information display, the user can know that an abnormality has occurred in the acceleration sensor based on the display on the information display.

[0105] The acceleration sensor may be a three-axis acceleration sensor.

[0106] The vehicle is equipped with an active noise control device as described above. [Explanation of symbols]

[0107] 10: Active noise control device 12: Vehicle 13: Seat 14: Car compartment 15: Power amplifier 16: Actuator 18, 18A to 18D: Acceleration sensor 19: Speed ​​sensor 20: Microphone 26: Judgment section 28: Control unit 30: Memory unit 32: Output section 34A to 34D: Filter section 36X~36Z: Adaptive filter 38X~38Z: Acoustic characteristic filter 40X to 40Z: filter coefficient update unit 42, 44, 62: calculation unit 46: First calculation unit 48: Second calculation unit 50: DC component extraction unit 52: Coordinate conversion unit 54, 60: Jerk acceleration calculation unit 56: Speed ​​signal acquisition unit 58: Acceleration calculation unit 64: Detection abnormality determination unit 66: Fault diagnosis device 68: Information display device 70: Installation abnormality judgment unit rx~rz: Reference signal u, u0, u0x~u0z: control signal

Claims

1. An active noise control device that outputs a canceling sound based on a control signal from an actuator in order to reduce noise in a vehicle cabin, an adaptive filter that generates the control signal by performing a filtering process on a reference signal acquired by an acceleration sensor attached to the vehicle; a filter coefficient update unit that updates a filter coefficient in the adaptive filter based on an error signal obtained by detecting a residual noise caused by interference between the noise and the canceling sound by a microphone and the reference signal; a determination unit that determines whether or not an abnormality occurs in the acceleration sensor based on a DC component of the reference signal; a control unit that, when it is determined by the determination unit that an abnormality has occurred in any of the plurality of acceleration sensors, stops generating the control signal based on the reference signal acquired by the acceleration sensor determined to have an abnormality, and stops updating the filter coefficient of the adaptive filter that performs the filtering process on the reference signal acquired by the acceleration sensor determined not to have an abnormality; a first calculation unit that calculates a jerk in a traveling direction of the vehicle based on the DC component of the reference signal; a second calculation unit that calculates a jerk in the traveling direction of the vehicle based on a signal acquired by a speed sensor provided in the vehicle; Equipped with The determination unit determines that an abnormality has occurred in the acceleration sensor when a difference between the jerk calculated by the first calculation unit and the jerk calculated by the second calculation unit is equal to or greater than a difference threshold.

2. An active noise control device that outputs a canceling sound from an actuator based on a control signal in order to reduce noise inside a vehicle cabin, an adaptive filter that generates the control signal by performing a filtering process on a reference signal acquired by an acceleration sensor attached to the vehicle; a filter coefficient update unit that updates a filter coefficient in the adaptive filter based on an error signal obtained by detecting a residual noise caused by interference between the noise and the canceling sound by a microphone and the reference signal; a determination unit that determines whether or not an abnormality occurs in the acceleration sensor based on a DC component of the reference signal; a control unit that, when it is determined by the determination unit that an abnormality has occurred in any of the plurality of acceleration sensors, stops generating the control signal based on the reference signal acquired by the acceleration sensor determined to have an abnormality, and stops updating the filter coefficient of the adaptive filter that performs the filtering process on the reference signal acquired by the acceleration sensor determined not to have an abnormality; a positive / negative sign of a value of a vertical component of the DC component of the reference signal is different between a case where the acceleration sensor is normally attached to the vehicle and a case where the acceleration sensor is not normally attached to the vehicle, The determination unit determines whether or not an abnormality has occurred in the acceleration sensor based on the positive / negative sign of the vertical component.

3. 3. The active noise control device according to claim 1, When the control unit determines that an abnormality has occurred in the acceleration sensor, the control unit stores information indicating that an abnormality has occurred in the acceleration sensor in a storage unit.

4. The active noise control device according to any one of claims 1 to 3, The active noise control device further comprises an output section for notifying a fault diagnosis device of information indicating that an abnormality has occurred in the acceleration sensor.

5. The active noise control device according to any one of claims 1 to 4, When the control unit determines that an abnormality has occurred in the acceleration sensor, the control unit outputs information indicating that an abnormality has occurred in the acceleration sensor to an information display device provided in the vehicle.

6. The active noise control device according to any one of claims 1 to 5, The active noise control device, wherein the acceleration sensor is a three-axis acceleration sensor.

7. A vehicle equipped with an active noise control device according to any one of claims 1 to 6.

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